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Download ACR Electronics FPR-10 PROGRAMMER Hardware manual
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Parker Hannifin User Information Warning — ACR series products are used to control electrical and mechanical components of motion control systems. You should test your motion system for safety under all potential conditions. Failure to do so can result in damage to equipment and/or serious injury to personnel. ACR series products and the information in this guide are the proprietary property of Parker Hannifin Corporation or its licensers, and may not be copied, disclosed, or used for any purpose not expressly authorized by the owner thereof. Since Parker Hannifin constantly strives to improve all of its products, we reserve the right to change this guide, and software and hardware mentioned therein, at any time without notice. In no event will the provider of the equipment be liable for any incidental, consequential, or special damages of any kind or nature whatsoever, including but not limited to lost profits arising from or in any way connected with the use of the equipment or this guide. © 2003-2007 Parker Hannifin Corporation All Rights Reserved Technical Assistance Contact your local automation technology center (ATC) or distributor. North America and Asia Parker Hannifin 5500 Business Park Drive Rohnert Park, CA 94928 Telephone: (800) 358-9070 or (707) 584-7558 Fax: (707) 584-3793 Email: [email protected] Internet: http://www.parkermotion.com Germany, Austria, Switzerland Parker Hannifin Postfach: 77607-1720 Robert-Bosch-Str. 22 D-77656 Offenburg Telephone: +49 (0) 781 509-0 Fax: +49 (0) 781 509-176 Email: [email protected] Internet: http://www.parker-emd.com Europe (non-German speaking) Parker Hannifin plc Electromechanical Automation, Europe Arena Business Centre Holy Rood Close Poole Dorset, UK BH17 7BA Telephone: +44 (0) 1202 606300 Fax: +44 (0) 1202 606301 Email: [email protected] Internet: http://www.parker-emd.com Italy Parker Hannifin 20092 Cinisello Balsamo Milan, Italy via Gounod, 1 Telephone: +39 02 6601 2478 Fax: +39 02 6601 2808 Email: [email protected] Internet: http://www.parker-emd.com Technical Support E-mail [email protected] ii Programmer’s Guide Parker Hannifin Table of Contents User Information ......................................................ii Table of Contents ....................................................iii Change Summary ................................................... vii Revision B Changes......................................................................................... vii Getting Started .........................................................8 Application Description ..................................................................................... 8 Getting Started - Tutorial.................................................................................. 9 Starting a New Project................................................................................. 9 Configuring Axes ........................................................................................ 9 Configuring Masters .................................................................................. 12 Mapping Memory and Finishing the Application ............................................. 13 What has been generated? ........................................................................ 13 Creating a program................................................................................... 14 Running the Application ............................................................................. 15 Servo Tuning - Tutorial................................................................................... 16 Tuning Example........................................................................................ 17 System Configuration .............................................26 Communication Levels.................................................................................... System Level ........................................................................................... Program/PLC Level.................................................................................... Hardware Configuration .................................................................................. Defining Hardware Configuration ................................................................ Reviewing Your Configuration ..................................................................... Dedicated I/O................................................................................................ Input Assignment ..................................................................................... End-of-Travel Limits....................................................................................... Hardware Limits ....................................................................................... Software Limits ........................................................................................ Attachments ................................................................................................. Software Attachments ............................................................................... Master/Slave Attachments ......................................................................... Memory Allocations ........................................................................................ System and Program Memory Levels........................................................... How Much Memory? .................................................................................. Displaying Current Memory Allocations ........................................................ Displaying Free Memory ............................................................................ Deleting Programs and PLCs ...................................................................... Clearing Allocated Memory......................................................................... 26 26 27 28 28 28 29 29 30 30 31 33 33 35 39 40 41 42 42 42 42 Programming Basics...............................................43 Aliases ......................................................................................................... Program Labels ............................................................................................. Example .................................................................................................. Remarks ....................................................................................................... Command Syntax .......................................................................................... Description of Format ................................................................................ Arguments and Syntax .............................................................................. Example Code Conventions ............................................................................. Programs and Commands ............................................................................... Immediate Mode Commands ...................................................................... Adding Lines of Code to Programs............................................................... Starting, Pausing, and Halting Programs ...................................................... Kill All Motion ................................................................................................ 43 43 44 44 44 45 46 47 48 48 48 49 50 iii Parker Hannifin Program Flow ................................................................................................ Selection ................................................................................................. Repetition ................................................................................................ Other Conditional Statements..................................................................... Parameters and Bits....................................................................................... Using Parameters and Bits ......................................................................... A Word on Aliases..................................................................................... Programming Example .............................................................................. Parametric Evaluation .................................................................................... Parentheses ............................................................................................. Examples................................................................................................. 51 51 54 55 56 57 58 59 60 61 61 Basic Setup.............................................................63 Before You Begin ........................................................................................... Axis Limits ............................................................................................... Character I/O ........................................................................................... Drive Control............................................................................................ Feedback Control ...................................................................................... Global Objects.......................................................................................... Interpolation ............................................................................................ Logic Function .......................................................................................... Memory Control........................................................................................ Non-Volatile ............................................................................................. Operating System ..................................................................................... Program Control ....................................................................................... Program Flow ........................................................................................... Servo Control ........................................................................................... Setpoint Control ....................................................................................... Transformation......................................................................................... Velocity Profile ......................................................................................... Startup Programs .......................................................................................... Resetting the Controller.................................................................................. Memory ........................................................................................................ Return to Factory Default................................................................................ Configuration ................................................................................................ A Note on the Jog/Home/Limits Dialog ........................................................ What is Configuration Code? ...................................................................... Resources Reserved for Generated Code...................................................... 63 64 64 64 65 65 66 66 66 67 67 68 68 69 69 70 70 71 71 71 72 72 73 73 78 Making Motion ........................................................81 Four Basic Categories of Motion ....................................................................... 81 Move Types................................................................................................... 82 Absolute Motion........................................................................................ 82 Incremental Motion ................................................................................... 83 Comparing Absolute and Incremental Motion................................................ 83 Combining Types of Motion ........................................................................ 85 Immediate Mode ...................................................................................... 85 What are Motion Profiles? ............................................................................... 86 Interaction Between Motion Profilers ................................................................ 87 Primary Setpoint....................................................................................... 88 Velocity Profile Commands .............................................................................. 91 Velocity Profile Setup ................................................................................ 91 Feedback Control Commands ..................................................................... 92 Coordinated Moves Profiler.............................................................................. 96 Jog Profiler ................................................................................................... 99 JOG VEL Details.......................................................................................104 JOG Commands .......................................................................................105 Gear Profiler ................................................................................................109 Cam Profiler .................................................................................................110 Homing .......................................................................................................110 Homing Subroutines.................................................................................112 Limit Detection ........................................................................................118 Dedicated I/O for Homing .........................................................................118 iv Programmer’s Guide Parker Hannifin Servo Loop Fundamentals ....................................120 Setpoint Compensation .................................................................................120 Viewing the Setpoint Calculations ..............................................................121 Following Error .............................................................................................121 Binary Host Interface ...........................................123 Binary Data Transfer .....................................................................................123 Control Character Prefixing .......................................................................123 High Bit Stripping ....................................................................................124 Binary Data Packets ......................................................................................125 Packet Request........................................................................................125 Group Code and Index .............................................................................125 Isolation Mask .........................................................................................125 Parameter Access ....................................................................................126 Packet Retrieval ......................................................................................126 Binary Parameter Access ...............................................................................127 Packet ID Codes ......................................................................................127 Usage Example........................................................................................128 Binary Get Long.......................................................................................128 Binary Set Long.......................................................................................128 Binary Get IEEE .......................................................................................129 Binary Set IEEE .......................................................................................129 Binary Peek Command ..................................................................................130 Binary Peek Packet ..................................................................................130 Binary Poke Command ..................................................................................131 Binary Poke Packet ..................................................................................131 Binary Address Command ..............................................................................132 Binary Address Packet ..............................................................................133 Binary Parameter Address Command ..............................................................134 Binary Address Packet ..............................................................................134 Usage Example........................................................................................134 Binary Mask Command ..................................................................................135 Binary Mask Packet ..................................................................................135 Usage Example........................................................................................135 Binary Parameter Mask Command ..................................................................136 Binary Mask Packet ..................................................................................136 Usage Example........................................................................................136 Binary Move Command..................................................................................137 Binary Move Packet..................................................................................137 Header Code 1 ........................................................................................139 Header Code 2 ........................................................................................139 Header Code 3 ........................................................................................139 Header Code 4 ........................................................................................140 Header Code 5 ........................................................................................140 Header Code 6 ........................................................................................140 Header Code 7 ........................................................................................141 Move Modes ............................................................................................141 Linear Moves...........................................................................................143 Arc Moves...............................................................................................143 NURB or SPLINE Moves ............................................................................144 Binary SET and CLR ......................................................................................144 Binary SET..............................................................................................144 Binary CLR..............................................................................................145 Usage Example........................................................................................145 Binary FOV Command ...................................................................................145 Binary Format .........................................................................................145 Binary ROV Command ...................................................................................147 Binary Format .........................................................................................147 Usage Example........................................................................................149 Application: Binary Global Parameter Access ....................................................149 Description .............................................................................................149 System Pointer Address (hardware dependent) ...........................................149 Reading Global Variables ..........................................................................149 Setting Global Variables............................................................................150 v Parker Hannifin Additional Features ..............................................151 CANopen .....................................................................................................151 Limited Amounts of Nodes and I/O.............................................................151 Alternate Mapping of Digital I/O ................................................................151 Semi-Automatic Network Configuration ......................................................152 AcroBASIC Language Access to CANopen I/O ..............................................155 Drive Talk ....................................................................................................164 Communication .......................................................................................165 Parameters and Bits.................................................................................165 Auto-Addressing ......................................................................................165 Drive Control Flags ..................................................................................166 Using Drive Talk ......................................................................................167 Closing Drive Talk ....................................................................................168 Using the “Pass Through” Mode .................................................................168 Inverse Kinematics .......................................................................................170 Programming the Inverse Kinematics .........................................................170 Troubleshooting ...................................................172 Problem Isolation..........................................................................................172 Information Collection ...................................................................................172 Troubleshooting Table ...................................................................................173 Error Handling ......................................................181 Sample Program (ACR90x0)......................................................................181 Appendix ..............................................................190 IP Addresses, Subnets, & Subnet Masks ..........................................................190 IP Addresses ...........................................................................................190 Subnets..................................................................................................192 Output Module Software Configuration Examples ..............................................195 Index....................................................................198 vi Programmer’s Guide Parker Hannifin Change Summary The change summary below lists the latest additions, changes, and corrections to the ACR Programmer’s Guide and the corresponding section of ACR-View Online Help. Revision B Changes Document 88-028698-01B (ACR Programmer’s Guide) supersedes document 88-028698-01A. Changes associated with this document are notated in this section. Topic Description Program Labels Refined the rules. Command Syntax Parentheses in Arguments and Syntax section: use parentheses if a constant is signed or is changing to a variable. Example Code New section. Conventions Startup Programs Making Motion Corrected example program. Reorganized the Making Motion chapter. Added REN and RES details for Velocity Profile Commands section. Changed the term in section titles from “Commanding Motion” to “Move Types.” Jog Profiler Added Jog Profiler section to Making Motion chapter. Error Handling Revised and reformatted sample error handling program. vii Parker Hannifin Getting Started Use the tutorials in this section to guide you through the configuration and tuning of your ACR series controller, and to help you create a project and become familiar with the ACR-View software. Application Description The tutorial leads you through setting up a sample application—a three-axis system (an X-Y-Z gantry that moves a camera carriage) controlled by a four-axis, standard ACR9000. Axis 0—the X axis Axis 1—the Y axis Axis 2—the Z axis Each axis uses a Parker BE341HQ motor powered by an Aries Drive, and is leadscrew driven with a pitch of 5 rev/inch. In addition, the application requires inputs 0-5 for hardware limit switches. The X and Y axes have a maximum of 24 inch of travel; The Z axis has a maximum of 6 inch of travel. The I/O is as follows: Output34 = Camera Input 0 = X axis Positive Hardware Limit Switch Input 1 = X axis Negative Hardware Limit Switch Input 2 = Y axis Positive Hardware Limit Switch Input 3 = Y axis Negative Hardware Limit Switch Input 4 = Z axis Positive Hardware Limit Switch Input 5 = Z axis Negative Hardware Limit Switch Special Requirement: There is an area designated by a light curtain connected to input 10, where the gantry cannot move to unless the camera carriage is retracted (Z-axis at 5 inches). In normal operations, the camera will not go into that area, but for safety reasons, the Z-axis must retract if it crosses the light curtain. This is the sole purpose of the Z-axis. 8 Programmer’s Guide Parker Hannifin Getting Started - Tutorial Use this basic tutorial to familiarize yourself with the ACR-View software and how to set up a project. Starting a New Project When you create a new project, wizards guide you as you set up the project. First, add a controller and provide its basic configuration data. 1. On the Start menu click Programs, click Parker Automation, then click ACR-View, and then select ACR-View. 2. Click Create New Project, and then type Sample in the box. Click OK. 3. Click ACR9000, and then click Next. 4. Do the following: 5. a. In the Configuration list, click P0. b. In the Number of Axes list, click U4. c. In the Option list, click M0 or B0. d. Then click Next. Click Finish. Once you have added a controller, ACR-View asks you to specify the type of communications you are using with the controller. For this exercise, it is not necessary to specify a communications protocol. Instead, close the window. Configuring Axes The Project Workspace—found on the left side of the ACR-View window—uses a tree structure to organize your project. Notice that the Sample project appears at the top and below it is the ACR9000 controller you just added. Next, use the Configuration Wizard to set up each axis. Axis 0 6. In the Project Workspace, click Configuration Wizard. 7. Under Configuration Wizard, click Axis 0. 8. In the Axis 0 dialog box, do the following: 9. a. In the Axis Name (Alias) box, type X b. In the Command Output list select DAC 0. c. Click Next. In the Drive/Motor dialog, click Next. 10. In the Feedback dialog, click Next. Getting Started 9 Parker Hannifin 11. In the Scaling dialog, do the following: a. Under Specify Units, click Inches. b. In the Transmission list, select Leadscrew. c. In the Transmission Details box (below the Transmission list), type 0.2—this represents the number of inches per revolution of the leadscrew. d. Click Next. 12. In the Fault dialog, do the following: a. Select the Enable Positive Software Limit Detection check box, and then type 24 b. Select the Enable Negative Software Limit Detection check box, and then type 0 c. Select the Enable Maximum Position Error Detection check box. d. In the Maximum Positive Position Error box, type 0.2 e. In the Maximum Negative Position Error box, type –0.2 f. Click Next. 13. In the Dedicated I/O dialog, do the following: a. In the Input Type list, select Onboard Input 0 and then click Positive Limit. b. In the Input Type list, select Onboard Input 1 and then click Negative Limit. c. Click Next. Axis 1 14. In the Project Workspace, click Axis 1. 15. In the Axis 1 dialog box, do the following: a. In the Axis Name (Alias) box, type Y b. In the Command Output list select DAC 1. c. Click Next. 16. In the Drive/Motor dialog, click Next. 17. In the Feedback dialog, click Next. 18. In the Scaling dialog, do the following: 10 a. Under Specify Units, click Inches. b. In the Transmission list, select Leadscrew c. In the Transmission Details box (below the Transmission list), type 0.2—this represents the number of inches per revolution of the leadscrew. d. Click Next. Programmer’s Guide Parker Hannifin 19. In the Fault dialog, do the following: a. Select the Enable Positive Software Limit Detection check box, and then type 24 b. Select the Enable Negative Software Limit Detection check box, and then type 0 c. Select the Enable Maximum Position Error Detection check box. d. In the Maximum Positive Position Error box, type 0.2 e. In the Maximum Negative Position Error box, type –0.2 f. Click Next. 20. In the Dedicated I/O dialog, do the following: a. In the Input Type list, select Onboard Input 2 and then click Positive Limit. b. In the Input Type list, select Onboard Input 3 and then click Negative Limit. c. Click Next. Axis 2 21. In the Axis 2 dialog box, do the following: a. In the Axis Name (Alias) box, type Z b. In the Command Output list select DAC 2. c. Click Next. 22. In the Drive/Motor dialog, click Next. 23. In the Feedback dialog, click Next. 24. In the Scaling dialog, do the following: a. Under Specify Units, click Inches. b. In the Transmission list, select Leadscrew c. In the Transmission Details box (below the Transmission list), type 0.2—This represents the number of inches per revolution of the leadscrew. d. Click Next. Getting Started 11 Parker Hannifin 25. In the Fault dialog, do the following: a. Select the Enable Positive Software Limit Detection check box, and then type 6 b. Select the Enable Negative Software Limit Detection check box, and then type 0 c. Select the Enable Maximum Position Error Detection check box. d. In the Maximum Positive Position Error box, type 0.2 e. In the Maximum Negative Position Error box, type –0.2 f. Click Next. 26. In the Dedicated I/O dialog, do the following: a. In the Input Type list, select Onboard Input 4 and then click Positive Limit. b. In the Input Type list, select Onboard Input 5 and then click Negative Limit. c. Click Next. Axis 3 27. In the Axis 3 dialog box, do the following: a. In the Command Output list, click Not Used. b. Click Next. Configuring Masters A master calculates trajectory and generates motion. You can assign one or more axes to a master. Each master only performs tasks for the axes assigned to it. In this sample application, the X and Y axes operate a gantry system. The motions of axes X and Y must be coordinated to make the compound motion, so these axes are assigned to the same master. Whereas the Z axis motion is not coordinated with other axes, so is assigned to its own master. Having assigned axes to their respective masters, you then define the motion profile for each master (acceleration and deceleration ramps, and velocity). 1. 12 In the Masters dialog, assign axes X and Y to master 0: a. In the Axes list to the left, select Axis 0 and Axis 1. b. In the Masters list to the right, select Master 0. c. Click Move Axes to Master. d. Click Next. Programmer’s Guide Parker Hannifin 2. 3. 4. In the Masters dialog, assign axis Z to master 1: a. In the Axes list to the left, select Axis 2. b. In the Masters list to the right, select Master 1. c. Click Move Axes to Master. d. Click Next In the Master 0 dialog, do the following: a. In the Acceleration Ramp box, type 10 b. In the Velocity box, type 5 c. In the Deceleration Ramp box, type 10 d. In the Stop Ramp box, type 10 e. Click Next. In the Master 1 dialog, do the following: a. In the Acceleration Ramp box, type 20 b. In the Velocity box, type 10 c. In the Deceleration Ramp box, type 20 d. In the Stop Ramp box, type 20 e. Click Next. Mapping Memory and Finishing the Application The memory mapping allows you to control how much memory is dedicated to specific items: programs, PLC programs, global Variables, and Defines. Most programs do not require special memory mapping. The final step is to review the configuration of your controller, its masters, and axes. Once you have completed the Configuration Wizard, the Finish dialog lists any configuration errors or warnings. To review the item, double-click it and the wizard takes you to the appropriate dialog to make any necessary corrections. You can also view a report, detailing the setup of the controller. 1. In the Memory dialog, click Next. 2. In the Finish dialog, you can correct any warnings or errors displayed. Click Finish What has been generated? Once finished, you can review the code generated by the Configuration Wizard. The Configuration Wizard led you through the process of setting up the controller and its axes—assigning drive and motor combinations to each axis; assigning feedback, scaling, fault detection, and dedicated I/O to each axis; assigning axes to masters, and defining master motion-profiles. The wizard created code in PLC program 5 for latching conditions of the hardware limits, and in Program 7 for software limits, hardware limits, and maximum position error. Getting Started 13 Parker Hannifin Creating a program This application requires two programs. Program 0: Determines the motion the gantry (axes X and Y), allowing a camera to take scans from various positions. Program 1: Activates when the gantry (axes X and Y) crosses a boundary marked by a light curtain. When the gantry passes through the light curtain, input 10 turns on, which initiates retraction of the camera (axis Z) to a safety position. When input 10 turns off, the camera returns to its original position. 1. In the Project Workspace, select Program Editor. By default, it opens Program 0. 2. In the Program Editor window under the comment 'TODO: edit your program here, type the following (or copy and paste the code to the program editor): DRIVE ON X X0 Y0 DWL 5 _Head X6 Y6 SET 34 DWL 5 CLR 34 X12 Y6 SET 34 DWL 5 CLR 34 X18 Y6 SET 34 DWL 5 CLR 34 X18 Y12 SET 34 DWL 5 CLR 34 X12 Y12 SET 34 DWL 5 CLR 34 X6 Y12 SET 34 DWL 5 CLR 34 GOTO Head 3. 14 Y : REM Enable X and Y Axes : REM Return X and Y axes to Zero Position : REM Wait 5 seconds (for Camera Process to finish) : : : : : : : : : : : : : : : : : : : : : : : : : REM REM REM REM REM REM REM REM REM REM REM REM REM REM REM REM REM REM REM REM REM REM REM REM REM Move to Position 1 Turn on OUTPUT 34 (Camera Process) Wait 5 seconds (for Camera Process to Turn off OUTPUT 34 (Camera Process) Move to Position 2 Turn on OUTPUT 34 (Camera Process) Wait 5 seconds (for Camera Process to Turn off OUTPUT 34 (Camera Process) Move to Position 3 Turn on OUTPUT 34 (Camera Process) Wait 5 seconds (for Camera Process to Turn off OUTPUT 34 (Camera Process) Move to Position 4 Turn on OUTPUT 34 (Camera Process) Wait 5 seconds (for Camera Process to Turn off OUTPUT 34 (Camera Process) Move to Position 5 Turn on OUTPUT 34 (Camera Process) Wait 5 seconds (for Camera Process to Turn off OUTPUT 34 (Camera Process) Move to Position 6 Turn on OUTPUT 34 (Camera Process) Wait 5 seconds (for Camera Process to Turn off OUTPUT 34 (Camera Process) Start Cycle over again In the Project Workspace, select Program 1. Programmer’s Guide finish) finish) finish) finish) finish) finish) Parker Hannifin 4. In the Program Editor window under the comment 'TODO: edit your program here, type the following (or copy and paste the code to the program editor): DRIVE ON Z Z0 : REM _Safe : REM WHILE (BIT10=0) WEND : REM Z5 : REM WHILE(BIT10=-1) WEND : REM Z0 : REM GOTO Safe : REM : REM Enable Z Axis Return Z Axis to Zero Position Just a marker label : REM Wait for Input 10 to be activated = -1 Gantry in Danger Zone Retract Carriage to Safe Position : REM Wait for gantry to move out of danger zone Input 10 back to normal state = 0 Extend carriage down Go back to marker to wait for next danger zone Running the Application You’ve configured your controller, drives, and motors. And you’ve created the necessary programs for the application. The application hardware is set up, and the servo motors are already tuned. You are ready to run the application. 1. 2. In the Project Workspace, click Terminal Emulator. In the Terminal Emulator window type: PROG 0 RUN PROG 1 RUN Getting Started 15 Parker Hannifin Servo Tuning - Tutorial The tuning process lets you hone the servo response and settling for your particular system. Settling and responsiveness are the main components that determine performance. Generally, the goal of servo tuning is good settling, with a secondary goal of good responsiveness. Ultimately, only you can determine which aspect is of prime importance, and when the tuning is “good enough” for your system. For safety, tune the servo system unloaded. Once the servo is stable and responsive, then add the load and tune the servo again. NOTE: Because the differences between systems are wide, the following are provided only as guidelines. Proportional and derivative gains work against each other—an increase to one gain affects the other. With this in mind, treat tuning as an iterative process: alternate between adjusting proportional and derivative gains. • PGAIN: Adjusts servo response. You can always try to increase responsiveness, though mechanics ultimately limit response time. • DGAIN: Adjusts settling time. The goal is always good settling. • IGAIN: Adjusts steady-state errors (not discussed in this tutorial). Adding integral gain also increases responsiveness, though the increase might not be noticeable. Warning — When tuning a servo motor, remove all loads from the motor to prevent personal injury or mechanical destruction. Once tuning provides a stable and responsive servo motor, you can attach the load and start the tuning process again. 16 Programmer’s Guide Parker Hannifin Tuning Example The tuning example assumes the following: • Parker BE 241 motor. • 9 to 1 load-to-rotor inertia ratio. Illustration Legend Color Position Green Commanded Yellow Actual 1. As a starting point, the PGAIN is set to 0.0003; no DGAIN is set at this time. Figure 1 shows that the motor is under responsive. Getting Started 17 Parker Hannifin 2. The PGAIN is increased to 0.0005 to increase the response. As Figure 2 illustrates, the motor response increased significantly, the motor is under-damped. Before we continue adjusting the motor response, it is important to compensate for the under-damping by adding DGAIN. 18 Programmer’s Guide Parker Hannifin 3. Setting the DGAIN to 0.00001 slightly over-damps the response, as shown in Figure 3. Now we can turn again to adjusting the motor response by increasing the PGAIN. If we were to increase the proportional gain without adjusting the derivative gain, the oscillations would increase and possibly create motor instability. Getting Started 19 Parker Hannifin 4. 20 With PGAIN increased to 0.001, motor responsiveness has increased (Figure 4) and the over-damping has decreased slightly. As there is no significant change to the settling, there is no need to adjust the DGAIN. However, there is still room for improvement on motor response. Programmer’s Guide Parker Hannifin 5. The PGAIN is increased to 0.005, resulting again in increased responsiveness (Figure 5). But with increased oscillations, due to under-damping, we need to adjust the DGAIN again. Getting Started 21 Parker Hannifin 6. 22 Increasing the DGAIN to 0.00003 damps the oscillation. As Figure 6 illustrates, both motor response and damping look good. We are ready to add a load to the motor. Programmer’s Guide Parker Hannifin 7. With a loaded motor, we can see that the response has slowed and the damping is weaker. Like before, we can increase the PGAIN for a better response. Getting Started 23 Parker Hannifin 8. 24 The PGAIN is increased to 0.02, and we can see better response from the motor. But there is still some oscillation from the motor, so we increase the damping. Programmer’s Guide Parker Hannifin 9. With DGAIN increased to 0.00015 the chattering is significantly reduced—both motor response and damping look good. With a load attached, the motor is now fast and stable; no more tuning is necessary. Getting Started 25 Parker Hannifin System Configuration The following section helps you understand how to configure your ACR controller for use. • Communication Levels • Hardware Configuration • Dedicated I/O • End-of-Travel Limits • Attachments • Memory Allocations Communication Levels Communication channels are either at the "system" level or at a "program" level. The command prompt indicates which level a communication channel is currently at. Certain commands are limited to a specific level. To determine at which levels a command might be used, refer to the Prompt Level in the command description. System Level The "system" level is where a communication channel is at after power-up. The command prompt at this level is as follows: The set of commands you can issue from the system level is limited. You can return to the system level from any other level by issuing the SYS command. 26 Programmer’s Guide Parker Hannifin Program/PLC Level The "program" or “PLC” level lets you edit and run individual programs or PLCs. The command prompt at the program level is as follows: Pnn> The command prompt at the PLC level is as follows: PLCn> Where "nn" or “n” represents the currently active program number. To select the program or PLC level from any other level, issue the PROG or PLC command followed by the program number. For example, the following selects program number 1 no matter which level or program is active: • To go back to the system level from the program or PLC level, issue the SYS command. • To move between programs, issue the PROG or PLC command followed by the desired program or PLC number. The following figure shows the various communication channel levels. The communication channels on the left can all be active at the same time and be operating at different levels. For example, "COM1:" could be editing program number 3, while "COM2:" monitors user variables being modified by program number 5. System Configuration 27 Parker Hannifin Hardware Configuration Before using an ACR controller, you must define for the firmware what specific hardware is installed. The default configuration is as follows: CONFIG ENC8 DAC4 DAC4 ADC8 The command uses four arguments— encoders, module 0, module 1, and module 2. Encoder: The encoder argument is the number of encoder channels installed. NONE, ENC2, ENC4, ENC6, ENC8, ENC10 Module 0: The module 0 argument is the type of module installed in the first SIMM socket. NONE, DAC2, DAC4, STEPPER2, STEPPER4, DACSTEP2, DACSTEP4 Module 1: The module 1 argument is the type of module installed in the second SIMM socket. NONE, DAC2, DAC4, STEPPER2, STEPPER4 Module 2: The module 2 argument is indicates whether an ADC module is installed in the third SIMM socket. NONE, ADC8 In ACR-View, the New Controller Wizard determines the CONFIG statement for you. Defining Hardware Configuration ► To define the hardware, use the CONFIG command. Reviewing Your Configuration ► To view the current configuration, enter CONFIG with no arguments. 28 Programmer’s Guide Parker Hannifin Dedicated I/O The ACR series controller contains I/O dedicated to Drive Enable, Drive Reset, and Drive Fault signals. Refer to the appropriate hardware manual for configuration. The ACR series controllers also contain hardware and software endof-travel limits, and homing. In the ACR90x0, the default is the lowest onboard inputs being assigned to the lowest axis. For example, axis 0 uses inputs 0, 1, and 2; axis 1 uses inputs 3, 4, and 5. Input Assignment For each axis, you can assign which inputs are used for positive and negative hardware limits, and the input used for homing. The default is that the lowest onboard inputs are assigned to the lowest axis— axis 0 uses inputs 0, 1, and 2; axis 1 uses inputs 3, 4, and 5; and so on. The Configuration Wizard can perform the setup for you, or you can use the HLBIT command to assign the inputs manually (no corresponding parameter exists). The value you provide sets the input to use for the positive hardware limit. The controller then sets the next contiguous input for the negative hardware limit, and the next contiguous input is set for homing. For example, you want to assign input three as the positive hardware limit for axis Y. The command HLBIT Y3 is sent; as a result, input 3 becomes the positive hardware limit, input 4 becomes the negative hardware limit, and input 5 becomes the homing input. System Configuration 29 Parker Hannifin NOTE: There are no restrictions regarding how to assign hardware limits and homing inputs. However, you should exercise caution because it is possible to create imaginary limit and home inputs. This is because the controller assumes all three inputs are in the same multiple of 32 bits. The assignment of inputs does not roll over to the next block of 32 bits. For example, if the positive hardware limit is assigned to input 31, the negative hardware limit and homing inputs are not assigned. Instead, they become imaginary inputs with a value of zero. End-of-Travel Limits The ACR series controller can respond to hardware and software end-of-travel limits, which prevent a motor’s load from traveling past defined limits. You can use hardware and software limits regardless of incremental or absolute positioning. Software and hardware limits, typically, are positioned so that when the load reaches the software limit, the motor/load starts decelerating towards the hardware limit. This provides a smoother, more graceful stop towards the hardware limit than if the hardware limit, itself, were activated. When a load reaches an end-of-travel limit (hardware or software), the ACR controller stops the master and all attached axes. The stop is made using the hardware or software deceleration rate—HLDEC or SLDEC, respectively. Hardware Limits For each axis, you can set a pair of inputs to act as positive and negative limits for hardware travel. Parameters 4600-4615 provide Control and Status bits for software limits. You can enable the individual positive and negative limits and set the active level for each, as well as check the current and previous states of the limits. NOTE: When a hardware limit is a hit, the KAMR (Kill All Motion Request) Bit is also set. Before motion can resume, you must clear the KAMR Bits for the affected master and its attached axes. 30 Programmer’s Guide Parker Hannifin Hardware Limit Enable By default, positive and negative hardware limits are disabled. You can enable the limits by setting the appropriate control bits (bit 20= positive hardware limit enable, bit 21= negative hardware limit enable). You can also control the hardware limits using the HLIM command. HLIM Hardware Limits Value Description 0 Disables positive limit and negative limit (default) 1 Enables positive limit and disables negative limit 2 Disables positive limit and enables negative limit 3 Enables positive limit and negative limit In the Configuration Wizard, you can enable hardware limits in the Faults dialog. Software Limits For each axis, you can set a pair of absolute positions that act as software-based limits. Between these limits, unlimited motion can occur. If a software limit is crossed, the controller stops motion for that axis, its master, and attached axes. Parameters 4600-4615 provide Control and Status bits for software limits. You can enable the individual positive and negative limits, as well as check the current and previous states of the limits. NOTE: Software limits do not use the Kill All Motion Request (KAMR) bits. Therefore, you can resume motion in the opposite direction of the software limit. For example, if the application encounters a positive software limit and stops, the application can resume motion in the negative direction. System Configuration 31 Parker Hannifin Soft Limit Enable By default, positive and negative software limits are disabled. You can enable the limits by setting the appropriate control bits (bit 22= positive software limit enable, bit 23= negative software limit enable). You can also control the software limits using the SLIM command. SLIM Software Limits Value 0 Description Disables positive limit and negative limit (default) 1 Enables positive limit and disables negative limit 2 Disables positive limit and enables negative limit 3 Enables positive limit and negative limit In the Configuration Wizard, you can enable hardware limits in the Faults dialog. Software Limit Positions You cans specify the positions for software limits using the SLM command. 32 Programmer’s Guide Parker Hannifin Attachments Attachments are a means of defining the hardware you have, and how it connects together. Software Attachments Before using an ACR controller, define the feedback and signal output for each axis. By default, each axis is attached to its matching encoder and DAC output. Using the ATTACH AXIS command, change the default attachments to fit your application. By default, each encoder and DAC is set to the same index as the axis to which it is attached. The default axis attachments are as follows: ATTACH AXIS0 ENC0 DAC0 ENC0 ATTACH AXIS1 ENC1 DAC1 ENC1 ATTACH AXIS2 ENC2 DAC2 ENC2 ATTACH AXIS3 ENC3 DAC3 ENC3 ATTACH AXIS4 ENC4 DAC4 ENC4 ATTACH AXIS5 ENC5 DAC5 ENC5 ATTACH AXIS6 ENC6 DAC6 ENC6 ATTACH AXIS7 ENC7 DAC7 ENC7 The ATTACH AXIS command has four arguments—axis, position, signal, and velocity. Axis: The axis argument determines to which axis you are making the attachments. AXIS0 through AXIS7 Position: The position argument determines what position feedback is attached to the axis. You can use the following: • Quadrature encoder feedback applied to the ACR controller’s encoder inputs. ENC0 through ENC7 • Analog position feedback applied to the ACR controller’s analog inputs. ADC0 through ADC7 • Open loop stepper feedback. STEPPER0 through STEPPER7 System Configuration 33 Parker Hannifin Signal: The signal argument determines the signal output by the ACR controller. • Analog voltage output DAC0 through DAC7 • Step and directions outputs. STEPPER0 through STEPPER7 • Sinusoidal/Trapezoidal commutation output. CMT0 through CMT7 Velocity: The velocity argument determines the velocity attachment. This lets you set a velocity feedback source for dualloop feedback—this provides a software tachometer based on encoder or analog signal input. NOTE: If you are using single-loop feedback, set the velocity argument to the same value used in the position argument. • Quadrature encoder feedback applied to the ACR controller encoder inputs. ENC0 through ENC7 • Analog position feedback applied to the ACR Card controller inputs. ADC0 through ADC7 Attaching Axes By default, each encoder and DAC is set to the same index as the axis to which it is attached (for example, ATTACH AXIS0 ENC0 DAC0 ENC0). It is good programming practice to use the same index for the feedback or signal output as the axis to which you are attaching. For example, to attach ADC 4 as position feedback, and DAC 4 as the command signal to axis 4, send the following: ATTACH AXIS4 ADC4 DAC4 ADC4 There is one exception—dual-loop feedback. With dual-loop feedback, you can attach a second feedback source to an axis. In this case, you must indicate which additional encoder is being used. For example, to attach encoder 4 as position feedback, DAC 4 as the command signal, and encoder 9 as the velocity feedback, send the following: ATTACH AXIS4 ENC4 DAC4 ENC9 34 Programmer’s Guide Parker Hannifin Master/Slave Attachments Without master/slave attachments, motion cannot occur. So what are masters and slaves? NOTE: There are no default master/slave attachments. Masters Master are trajectory (or motion profile) generators for coordinated motion. A master computes trajectories only for the slave or slaves attached to that master. You can assign only one master to a program. The number of masters available is governed by the number of programs available on each controller: • ACR1505 has 16 masters. • ACR8020 has 16 masters. • ACR9000 has eight masters. Attaching Masters For a program to make motion, it must have a master and slaves attached to it. Use the ATTACH MASTER command to designate which trajectory generator to use with a program. When attaching masters, observe the following: • Place the ATTACH commands in the declarations above a program. • You can attach a specific master to only one program. You cannot use the same master in multiple programs. • Use ATTACH MASTER before the ATTACH SLAVE command—you first have to assign a master to a program, then you can attach slaves to the master. NOTE: While you can attach any master to any program, it is important to be consistent across programs and applications. For example, you might always use program zero for managing communications, and program one for motion with master zero attached. As another example, the ACR-View software uses the same index for the master as the program to which it is being attached (master zero attaches to program zero, master one attaches to program one, etc.). Setting up an application with independent axes is straightforward. For example, a four-axis ACR9000 controls four independent axes; you attach master and slave zero to program zero, master and slave one to program one, and so forth. Each program uses a separate master for each slave. System Configuration 35 Parker Hannifin Setting up coordinated motion does not differ. After attaching a master to the program, you attach all the slaves. For example, an ACR9000 controls coordinated motion for five axes: you attach master zero to program zero, and axes zero through four to program zero. For more information, see the ATTACH MASTER command in the ACR Command Language Reference. Slaves Each master uses its own set of dedicated slaves; slaves act as simple placeholders for axes. By attaching an axis to a slave, you are connecting the axis to a specific master. You can attach one axis to one slave, and subsequently it is attached to one master. The total number of slaves available differs between controllers: • ACR1505 has 16 slaves. • ACR8020 has 16 slaves. • ACR9000 has 8 slaves. • ACR9030 has 16 slaves. • ACR9040 has 16 slaves. NOTE: You cannot assign an axis to more than one slave and master. If necessary, you can disconnect the axis from its master and attach it to a different master. For more information, see the DETACH command. 36 Programmer’s Guide Parker Hannifin The diagram below helps illustrate the concepts and relationships between masters and slave, programs and axes. Attaching Slaves As previously stated, for a program to make motion, it must have a master and slaves attached to it. Once you have attached a master, you can then attach the slaves. Each master contains its own set of slaves, and each set of slaves is independent of the slaves in other masters. When attaching to slaves, start with the first available slave. Use the ATTACH SLAVE command to designate which axis you are attaching to a slave. When attaching slaves, observe the following: • You can attach as many slaves to a master as there are axes available. • You attach one axis to one slave. Therefore, that axis is attached to only one master. • You cannot assign an axis to different slaves in a single master, or to different masters. System Configuration 37 Parker Hannifin • To reuse an axis and attach it to a different master/slave, you must first separate it from the current master/slave using the DETACH command. For more information, see the ATTACH SLAVE command in the ACR Command Language Reference. Slaves and Axis Names The ATTACH SLAVE command lets you provide an axis name (up to four alpha characters)—such as X, ARM, or UP. You can use the axis name in the program code (for that program only). The axis name provides meaning to the axis, making code more readable and easier to troubleshoot. The ACR controller recognizes the axis name only in the program where it is declared. For example, in program zero you give axes zero and one the names ARM and UP, respectively. Other programs do not recognize the axis names ARM and UP. While you cannot use the axis names in other programs, you can access those axes using their system names—AXIS0 and AXIS1. NOTE: Do not use the characters P or F as an axis name. P is reserved for global and system parameters; F is reserved for the F (feedrate) command. Example In the following example, program zero controls a two-axis machine. Axis zero is given the axis name X, and axis one is given the axis name Y. PROG0 HALT DETACH ATTACH MASTER0 ATTACH SLAVE0 AXIS0 “X” ATTACH SLAVE1 AXIS1 “Y” 38 Programmer’s Guide Parker Hannifin Memory Allocations Memory allocation on the ACR series controllers is completely customizable —you can assign controller memory to features and functions that need it most for your particular application. Using the Configuration Wizard, you can quickly allocate memory for the following: programs, PLCs, global variables, local variables, arrays, and communication stream buffers. It is important to dimension the memory correctly for your application. The factory default memory allocations are limited to programs, which receive 512K. The communication stream buffers receive 256 bytes each. Once you have allocated memory for a program, PLC, or global variables, you cannot change it without first clearing the memory space (CLEAR command). Otherwise, you receive a “Redimensioned block” error. NOTE: The controller stores system memory in battery-backed SRAM, as well as hardware configuration data. If you reset memory using the BRESET command, memory allocation returns to factory settings. Caution — When you send the BRESET command, you cannot return the battery to normal operation without removing and then restoring power. Stored programs are lost during the power restore. System Configuration 39 Parker Hannifin NOTE: The memory organization differs for each controller—for more information, see the section titled Memory Organization in the ACR Command Language Reference. System and Program Memory Levels Memory is allocated at two levels, the system level and program level: System At the SYS prompt, you can allocate memory for the following: • Programs: The factory default divides memory equally among programs 0-7 (factory default is 512K total). • PLC Programs: The factory default provides no memory allocated to PLC programs. • Communication Stream Buffers: The stream buffers are optimized for communication (factory default is 256 bytes). Most applications do not require adjustments to the buffer size, as the controllers use flow control. If you are losing data, you can adjust the stream buffer. As each application is different, incrementally increase the buffer size to determine the best setting for your application. Increasing the buffer allows the front-end software to perform smoothly while the controller manages data in the background. • Global Variables: The factory default provides no memory allocated to global variables. There are 4096 user parameters available (64-bit floating point); the range is P0-P4096. For example, if you dimension memory for 100 global variables, then you can use P0-P99. • Aliases: The factory default provides no memory allocated to aliases. Once you define the number of aliases, you can use the #DEFINE command to set them up. Program At the PROG prompt, you can allocate memory for the following: 40 • Local Variables: The factory default provides no memory allocated to local variables. After allocating memory, these items are available only within the specified program. • Strings: The factory default provides no memory allocated to strings. After allocating memory, these items are available only within the specified program. Programmer’s Guide Parker Hannifin • Arrays: The factory default provides no memory allocated to arrays. After allocating memory, these items are available only within the specified program. How Much Memory? There are no simple guidelines to determine how much memory your programs might require; the needs of each application are different. It also depends how you intend to develop programs for the controller. If you just sit down and begin writing code through the ACR-View software, consider allocating more memory than you think you might need. As you get closer to completion, you can scale back the memory allocations as appropriate. You can also write the programs first, determine how much memory it uses, and dimension what is necessary. The following table shows memory usage by various data and program structures. Use it to help determine how much memory is needed for each program: Data/Program Structure Memory Usage LV variables 4 bytes per element (32-bit integers) SV variables 4 bytes per element (32-bit floating point) DV variables 8 bytes per element (64-bit floating point) $V variables 4 bytes + 1 byte per character Array references 4 bytes per array reference + 4 bytes LA arrays 4 bytes per element + 4 bytes SA arrays 4 bytes per element + 4 bytes DA arrays 8 bytes per element + 4 bytes $A arrays 1 byte per character Commands 4 bytes per command Parametric Statements 4 bytes per operator Long Constants 4 bytes per constant (32-bit integer) Single Constants 4 bytes per constant (32-bit floating point) Double Constants 8 bytes per constant (64-bit floating point) String Constants 4 bytes + 1 byte per character Subroutine Calls 4 bytes per level Aliases (#DEFINE) 48 bytes per define + 16 bytes Move Buffer (MBUF) 136 bytes per move System Configuration 41 Parker Hannifin Displaying Current Memory Allocations From the SYS prompt, you can view memory allocations for programs, PLCs, communication stream buffers, global variables, and aliases. The controller displays the default memory allocation for only programs. For all other items, you must allocate memory to them (PLCs, global variables, and aliases), or change the default memory allocation (communication stream buffers). From the PROG prompt, you can view the memory allocations for local variables, strings, and arrays. ► To view current memory allocations, use the DIM command. Displaying Free Memory You can view the free memory for the system or a specific program or PLC. For more information, see the MEM command in the ACR Command Language Reference. ► To view free memory, use the MEM command. Deleting Programs and PLCs Before you can clear memory allocation for programs or PLCs, you must erase the program or PLC program being stored. You can delete all programs or a specific program or PLC. For more information, see the NEW command in the ACR User’s Guide. ► To erase all programs and PLCs, use the NEW ALL command. Clearing Allocated Memory You can clear memory at the system or program level, returning the controller to factory set memory allocations. NOTE: The CLEAR command behaves differently at the system and program levels. For more information, see the CLEAR command in the ACR Command Language Reference. ► To free the allocated memory, use the CLEAR command. 42 Programmer’s Guide Parker Hannifin Programming Basics The following section explains some fundamental concepts of the AcroBASIC programming language. Aliases Alternative names, called aliases, can be assigned to parameters, bits, constants, and variables to make program code more readable. Aliases are recognized globally (across user programs). NOTE: Do not confuse aliases with axis names. You can assign an axis name to an axis through the ATTACH SLAVE command. Observe the following rules when creating and using aliases: • Use a maximum of 24 letters. • Aliases are case sensitive. • Do not use numbers, spaces, or special characters (such as _ and @). • Use caution when using aliases with local variables. An alias is recognized across programs, while local variables are limited to the program in which they are created. This can cause problems if you have created similar local variables in different programs. For example, if long variables are dimensioned in three programs, then the alias “counter” is assigned to LV1 (long variable 1), the controller recognizes “counter” as an alias in all three programs, though it represents a counter in only one program. For more information, see the #DEFINE command in the ACR Command Language Reference. ► To assign aliases, use the #DEFINE command. Program Labels Labels are program pointers which provide a method of branching to specific locations, including subroutines, within the same program. Labels can only be defined within a program and executed with a GOTO or GOSUB from within the same program. Observe the following rules when creating and using labels: • Precede the label with an underscore ( _ ) character. • Use letters (case-sensitive) and numbers, but not spaces or symbols. Programming Basics 43 Parker Hannifin • Use the RETURN command to indicate the end of the subroutine. • Do not put a REM command on the same line as a label. Example _START GOSUB Label1 GOTO START _Label1 PRINT “Inside Label1 subroutine” RETURN Remarks You can add comments to a program. You can put a REM statement by itself on a line, or you can place it on the same line after a program statement. When following a program statement with a REM statement, observe the following: place a space, a colon (:), then another space between the program statement and the REM statement. Comments consume memory on the controller, and can affect processing speed. By using an apostrophe (‘) in place of REM, the controller strips comments on downloading the program. Unlike REM, when using the apostrophe for comments, the comment must appear on its own line. REM this is a comment ‘ this is another comment ACC 10000 : REM this comment follows a valid program statement Command Syntax The AcroBASIC programming language accommodates a wide range of needs by providing basic motion control building blocks, as well as sophisticated motion and program flow constructs. The language comprises simple ASCII mnemonic commands, with each command separated by a command delimiter (carriage return, colon, or line feed). The command delimiter indicates that a command is ready for processing. The AcroBASIC programming language uses a parent daughter approach. A parent can have daughter statements; a daughter statement is considered a sub-statement of the parent. You can issue many parent statements alone—some provide the current status related to that particular command, others perform an action. For example, issuing the DIM command at the system level provides you with a report of the system dimensions. Conversely, issuing the CLEAR command at the system level frees the memory allocated to all programs. 44 Programmer’s Guide Parker Hannifin You can only issue some parent commands in conjunction with a daughter statement. For example, the FLASH command has the ERASE, LOAD, IMAGE, RES, and SAVE daughter statements. Therefore, you can issue the FLASH ERASE, FLASH LOAD, FLASH IMAGE, FLASH RES, and FLASH SAVE commands, but not FLASH by itself. Description of Format Each parent or daughter command shows the necessary elements to correctly use that command. The following describes how to interpret the command format presented to you in this guide: 1. Mnemonic Code: The ASCII command. 2. Name: A short description of the command. 3. Format: Indicates the proper syntax and arguments for the command. 4. Group: The functional group to which the command belongs. 5. Units: Indicates the units of measurement required by the argument(s) in the command syntax. 6. Data Type: Indicates the class of data required by the argument(s). 7. Default: Indicates the setting or value automatically selected unless you specify a substitute. 8. Prompt Level: Indicates the communication level at which you can use the command. For more information, see Communication Levels. 9. See Also: Indicates commands related or similar to the command you are reviewing. 10. Related Topics: Indicates parameter and bit tables related to the command you are reviewing. 11. Product Revision: To determine whether the command applies to your specific ACR series controller and firmware revision, see the Command and Firmware Release table. Programming Basics 45 Parker Hannifin Arguments and Syntax The syntax of an AcroBASIC command shows you all the components necessary to use it. Commands can contain required and optional arguments. They also contain a number of symbols: • Braces { }—arguments that are optional. Do not type the braces in your code. • Parentheses ( )—arguments that are optional, and must appear within the parentheses in your code. Also used to indicate variables and expressions. If replacing a constant with a variable or parametric equation, use parentheses to “contain” the variable/equation. Signed (-) or (+) constants must be in parentheses. • Commas (,)—delimiters between arguments in specific commands. In addition, select commands use commas to control spacing and line feeds. To understand the separator’s specific use in a command, refer to the command’s format and description. • Semicolons (;)—delimiters between arguments in specific commands. In addition, select commands use semicolons to control spacing and line feeds. To understand the separator’s specific use in a command, refer to the command’s format and description. • Slash mark (/)—signifies an incremental move in select commands. • Quotes (“ ”)—arguments within the quotes must appear within quotes in your code. • Number sign (#)—device arguments following number signs must include the number sign in your code. • Ellipsis (…)—arguments can be given for multiple axes The following examples illustrate how to interpret common syntax: Example 1 ACC {rate} In the ACC command, the lower case word rate is an argument. Arguments act as placeholders for data you provide. If an argument appears in braces or parentheses, the argument is optional. For example, the following sets the acceleration ramp to 10,000 units per second 2 . ACC 10000 When you issue a command without an optional argument, the controller reports back the current setting. Not all commands report back, and some require you to specify an axis. For example, the following reports the current acceleration rate in program 0. P00>ACC 10000 46 Programmer’s Guide Parker Hannifin Example 2 FBVEL {AXIS {value}} {AXIS {value}} ... Optional arguments can nest. This provides the flexibility to set data for or receive reports on multiple axes. For example, the following sets the velocity feedback gain for axes X and Y to 0.0001 and 0.0002 respectively. FBVEL X 0.0001 Y 0.0002 Because the FBVEL command can report on multiple axes, you specify at least one axis on which the controller is to report back. P00>FBVEL X 0.0001 P00>FBVEL X Y 0.0001 0.0002 Example 3 IPB {AXIS {value}} {AXIS {(value1, value2)}} … The AcroBASIC language provides programming shortcuts. You can set positive and negative values for commands using one argument. If the values differ, you can use two arguments. The command format illustrates when this is possible. For example, the following sets the in-position band for axis X to ±0.05 and for axis y to 3 and –1. IPB X 0.05 Y(3, -1) Notice that the two values for axis Y are given inside parentheses and separated by a comma, as shown in the format of the command. Example 4 HALT {PROGx | PLCx | ALL} The vertical bar indicates a choice between arguments. For example, the HALT command lets you stop a user program or PLC program or all programs. HALT PROG0 HALT PLC5 HALT ALL Example Code Conventions Examples that include code are provided throughout most of the ACR Series documentation to illustrate a concept, supply model code samples, or to show multiple ways to employ the commands. The example code may include the terminal prompt or configuration code if it is necessary for clarity. Example code is complete only as far as conveying information about the discussion, and configuration and other information may need to be added in order for the code to be of use in an actual application. NOTE: In ACR Series example code, Axis0 is the X axis, and Axis1 is the Y axis, unless otherwise specified. Programming Basics 47 Parker Hannifin Programs and Commands There is a subset of AcroBASIC commands that act right away. While you can use them in programs, you can also send them from a terminal emulator and effect changes immediately—commands such as ACC, DEC, and VEL. You can also make on-the-fly changes to a program from a terminal emulator. At the appropriate program prompt (SYS, PROG, or PLC), you can enter the line of code. The code remains in effect until you re-download programs, cycle power to the controller, or send the REBOOT command; the code is not saved. Immediate Mode Commands Immediate commands execute on pressing the ENTER key—all commands are immediate. You can use this to set operating characteristics, view the current settings, or have the controller perform the command. • To view the current master velocity, type the VEL command with no value. • To change the current master velocity, type VEL and then the new value such as VEL 1000. • To perform a command such as turning on the first of the digital outputs type SET 32. Adding Lines of Code to Programs You can add lines of code to a program that is already downloaded to the controller. This can be useful when testing or debugging an application when you do not want to make a permanent change to the program stored in ACR-View. Each code statement you want to add must include a line number. Otherwise the controller could not understand where to place each code statement. To determine the correct line numbers, turn on line numbering through the Force Line Numbers with List bit (bit 5651). Then send the LIST command to display the current program. Having determined the correct line number placement for the code statements, enter the line number, a space and the command. Such as 15 VEL 1000 The new program lines are stored in the program space. NOTE: Code changes made with this procedure are not reflected in the program stored in ACR-View. To ensure your changes are permanent, enter them in the ACR-View Program Editor and download it to the controller. 48 Programmer’s Guide Parker Hannifin Starting, Pausing, and Halting Programs Once downloaded to a controller, you can control programs from the SYS prompt, as well as any PROG or PLC prompt. You must include the program or PLC number when issuing the command—for example RUN PROG0, or PAUSE PROG0, or HALT PROG0. The following commands provide immediate program control from a terminal editor: Running a Program While the program starts, the controller returns to the SYS, PROG, or PLC prompt. You can then enter immediate commands as the program runs. ► To start a program, send the RUN command. Running a Program at Power Up You can set a specific program to automatically start after powering up or rebooting the controller, ► In the program editor, enter the PBOOT command as the first line in a program. Listening to a Program While a program is running, you can “listen” to it. The listen mode displays data from the controller’s print statements and error messages. ► To enable the listening mode on a running program, send the LISTEN command. ► To exit the listening mode, press the ESC key (ASCII 27). Viewing a Running Program You can also start and listen to a program using a single command. This is best used for development trouble shooting purposes. It is the only time you can view program syntax errors. ► To start a program with the listening mode enabled, send the LRUN command. ► To exit the listening mode, press the ESC key (ASCII 27). Halting a Program You can stop motion and end program execution from the SYS, PROG, and PLC prompts using the HALT command. NOTE: To terminate a program in the middle of execution based on a condition, use the END command. ► To stop a program, send the HALT command. Programming Basics 49 Parker Hannifin Pausing a Program Pausing a program places a feed hold on the current move and suspends the program at the current command line. ► To suspend a currently running program, send the PAUSE command. Resuming a Paused Program Once paused, you can resume the program—motion and code execution continue from the places at which they paused. ► To continue program operation, send the RESUME command. Affecting Multiple Programs You can control all programs simultaneously using the ALL argument. For example: RUN ALL, HALT ALL, PAUSE ALL, or RESUME ALL. ► To control all programs, use the ALL argument in a command. Kill All Motion Sometimes you need to stop all motion immediately. You can send CTRL + X to kill motion on all axes, and terminate all program execution. When this occurs, motion is stopped at the rate set with the HLDEC command. While CTRL + X is similar to sending the HALT ALL command, CTRL + X also sets the Kill All Motion Request (KAMR) bit for each axis. Motion cannot resume until you clear the KAMR bits. You can clear all the KAMR bits by sending the CTRL + Y command. This only clears the KAMR bits; no motion occurs. For some applications, you want to disable the drives in addition to killing all motion. Send CTRL + Z disables all drives in addition to the functions of CTRL + X . The disabling of the drives is the same as sending the DRIVE OFF command. Killing All Motion Command Description CTRL + X Kills motion on all axes, terminates program execution, and sets the KAMR bit for each axis. CTRL + Y Clears all KAMR bits. CTRL + Z Kills motion on all axes, terminates program execution, disables all drives, and sets the KAMR bit for each axis. 50 Programmer’s Guide Parker Hannifin Program Flow Code is executed sequentially, following the order in which it is written. But based on some input, you can shift code execution elsewhere in a program using conditional statements. Using conditional statements, you can create code that tests for specific condition and repeats code statements. The conditional statement provides a logical test—a truth statement—allowing decisions based on whether the conditions are met. In the code, you create an expression and test whether the result is true. You can divide conditional statements into two sub-categories, selection and repetition. NOTE: Each level (or nest) uses 4 bytes of memory. For more on memory use, see How Much Memory? Selection The selection structure controls the direction of program flow. Think of it as a branch in your program. When the conditions are met, the program moves to a different block of code. AcroBASIC provides the following conditional statements: • IF/THEN • IF/ELSE/ENDIF • GOSUB • GOTO IF/THEN Programs need to run code based on specific conditions. The IF/THEN statement lets a program test for a specific condition and respond accordingly. The IF portion sets of the condition to test; if the condition proves true, the THEN portion of the statement executes. If instead the condition proves false, the THEN statement is ignored and program execution moves on to the next statement. NOTE: Enclose the condition being tested in parentheses. Though the IF/THEN statement provides a single-line test, it can execute multiple statements when the condition proves true. All the statements must appear on a single line and be separated by a space, colon, and another space. Programming Basics 51 Parker Hannifin When using an IF/THEN statement, observe the following: • You can nest GOTO and GOSUB statements in an IF/THEN statement. Example The following demonstrates several simple IF/THEN statements. IF (BIT 24) THEN P0 = P0+1 IF (P0 > 4000) THEN GOSUB 100 : P0 = P0-1 IF/ELSE The IF/ELSE statement provides a powerful tool for program branching and program flow control. The IF/ELSE statement allows you to run one set of code if the condition is true, and another set of code if the condition is false. The IF/ELSE statement must end with ENDIF. When using an IF/ELSE statement, observe the following: • You can nest GOSUB statements in an IF/ELSE statement. The GOSUB provides a return into the IF/ELSE statement. • Do not nest GOTO statements in IF/ELSE statements. The GOTO statement exits the IF/ELSE statements, and does not provide any link back inside. • Do not nest IF/THEN statements in IF/ELSE statements—the logic may not provide the results you expect. Tip: When troubleshooting programs, use the LIST command to view the program stored on the controller. In recognizing IF/ELSE statements, the controller indents the statements under the IF including the ENDIF. If any statements in the IF/ELSE are not indented but should be, check the code in the program editor and re-download. Example The following demonstrates different actions based on conditions being true or false. If the input (bit 24) is true, the long array increments and axis X moves an incremental 25 units. If false, the long array decrements and axis Y moves to absolute position 5. IF (BIT 24) LA0(1) = LA0(1)+1 X/25 ELSE LA0(1) = LA0(1)-1 Y5 ENDIF ELSEIF Condition The IF/ELSE statement can include the ELSEIF condition. The ELSEIF condition lets you create a series of circumstances to test. There is no practical limit to the number of ELSEIF conditions you can include. However, they must come before the ELSE condition. 52 Programmer’s Guide Parker Hannifin Here is how it works. When the IF condition is true, the subsequent statements are executed. When the IF condition is false, each ELSEIF statement is tested in order. When an ELSEIF condition tests true, the subsequent statements are executed. When the ELSEIF condition test false, the statements following ELSE condition execute. After executing the statements following an IF, ELSEIF, or ELSE, the program moves past the ENDIF to continue program execution. When using the ELSEIF condition, you can omit the ELSE condition. When the IF and ELSEIF conditions test false, statement execution after the ENDIF continues. Think of it as creating a series of IF/THEN statements. GOSUB The GOSUB branches to a subroutine and returns when complete. You can use GOSUB and RETURN anywhere in a program, but both must be in the same program. A procedure can contain multiple RETURN statements. However, on encountering the first RETURN statement, the program execution branches to the statement directly following the most recently executed GOSUB statement. Example The following example demonstrates a simple GOSUB routine. GOSUB Label1 … _Label1 PRINT “Inside Label1 subroutine” RETURN GOTO The GOTO statement provides an unconditional branch within a procedure. You can only use the GOTO in the procedure in which it appears. You can nest GOTO statements in an IF/THEN statement. NOTE: The GOTO statement makes code difficult to read and maintain. Example The following demonstrates a simple GOTO statement. The program sets output bit 32, then moves axis X one incremental unit in the positive direction. The program pauses until the “Not in Position“ bit 768 is clear, then clears the output, waits 2 seconds, and goes to LOOP1. ACC10 DEC10 STP10 VEL1 _LOOP1 SET 32 X/1 INH -768 CLR 32 DWL 2 GOTO LOOP1 Programming Basics 53 Parker Hannifin Repetition The repetition structure—known as a loop—controls the repeated execution of a statement or block of statements. While the conditions remain true, the program loops (or iterates) through the specific code. Typically, the repetition structure includes a variable that changes with each iteration. And a test of the value determines when the conditions of the expression are satisfied. The program then moves to the next statement past the repletion structure. If the condition is not met, the loop does not execute. In many cases that is acceptable behavior. Conversely, if the condition is always met, then the loop does not end. An endless loop is probably not a desired result, so be mindful when writing the loop conditions. AcroBASIC also provides the following looping statements: • FOR/TO/STEP/NEXT • WHILE/WEND FOR/TO/STEP/NEXT When you expect to loop through a block of code for a number of times, the FOR/NEXT loop is a good choice. It contains a counter, to which you assign starting and ending values. You also assign a STEP value (positive direction only), the value by which the counter increments. When the FOR/NEXT loop executes the first time, the end value and the counter are compared. If the current value is past the end value, the FOR/NEXT loop ends and the statement immediately following executes. Otherwise, the statement block within the FOR/NEXT loop executes. On each encounter of the NEXT statement, the counter increments and loops back to the FOR statement. The counter is compared to the end value with each loop. When the counter exceeds the end value, the loop skips the statement within, and proceeds to execute the statement immediately following the FOR/NEXT statement. You can exit a FOR/NEXT loop before the counter is complete using a BREAK statement. When the condition is met, the statement immediately following the FOR/NEXT loop executes. Example The following demonstrates a FOR/NEXT loop with a BREAK statement. FOR LV0 = 0 TO 499 STEP 1 PRINT LA0(LV0), SA0(LV0) DWL 0.01 IF (BIT 24) BREAK ENDIF NEXT 54 Programmer’s Guide Parker Hannifin WHILE/WEND The WHILE/WEND loop executes as long as its condition remains true. You can use the WHLE/WEND anywhere in a program. The WHILE sets the condition, and is followed by statements you want executed when the condition is true. When the condition is false, the statement immediately following WEND executes. The condition is evaluated only at the beginning of the loop. When using a WHILE/WEND statement, observe the following: • Do not nest GOTO statements in an WHILE/WEND statement. • At the start of each loop through the WHILE condition, the validity of the condition is tested. Example The following demonstrates a WHILE/WEND loop. While the encoder position for axis 2 is less than 1500 units, the WHILE statement evaluates as true. As the loop runs, the array acts as a counter, incrementing with each loop; axis X move an incremental 25 units; the program pauses for 1.5 seconds, then prints the current value of the array; and if the input (bit 24) is set the loop breaks. When the encoder count exceeds 1500, the condition is false and execution moves past the WEND statement. WHILE (P6176 < 1500) LA0(1) = LA0(1) + 1 X/25 DWL 1.5 PRINT LA0(1) IF (BIT 24) BREAK ENDIF WEND Other Conditional Statements There are two additional program flow control commands: INH and IHPOS. The INH command lets you inhibit (pause) program execution until the state of a selected bit (set or clear) occurs. Similarly, the IHPOS command lets you inhibit program execution until a specific axis position is occurs. INH The INH command lets you inhibit program execution based on the set or clear state of a specified bit. NOTE: Do not use INH in non-motion programs. If you have multiple non-motion programs, an inhibit in one non-motion program affects all non-motion programs. Programming Basics 55 Parker Hannifin Example The following demonstrates inhibiting a program until a certain condition is met. INH 2 : REM wait until bit 2 = 1 INH -516 : REM wait until bit 516 = 0 IHPOS The IHPOS command lets you inhibit program execution based on the setpoint of a given parameter or a timeout is reached. NOTE: While intended to inhibit program execution based on an axis position, you can use any system parameter or user defined parameter. Example The following demonstrates a variety of inhibits for encoder 1. IHPOS P6160 (40000,5.5) : REM wait until ENC1 >40000, or 5.5 seconds IHPOS -P6160 (40000,5.5) : REM wait until ENC1 <40000, or 5.5 seconds IHPOS P6160 (40000,0) : REM wait until ENC1 >40000, no timeout Parameters and Bits The ACR series controllers is parameter based, providing extensive control of settings and operations. The AcroBASIC language provides a simplified way to interact with the most commonly used parameters and bits. However, you can increase control and performance through direct access of the parameters and bits. There are separate parameter and bit tables. Following each is a table providing description of the parameters or bits and the read/write attributes. The factory default state depends on the specific parameter or bit. NOTE: The values for some parameters and bits change automatically through operation of the ACR controller. Changing (writing) a value does not ensure the parameter or bit retains the value over the course of operations. Use caution—forcing a value to change can cause unpredictable results. There are two types of bits: request and non-request. 56 • Request Bits: The bit is self clearing when processed by the DSP. All request bits include “request” in the name. In most cases, there are complimentary flags that perform the opposite action. For example, the Run Request bit and the Halt Request bit control the running and halting of programs. • Non-Request Bits: The bit requires clearing through a program or manually through a terminal. Programmer’s Guide Parker Hannifin Following is a list of the most commonly used parameter and bit tables: • Master Parameters • Master Flags • Axis Parameters • Axis Flags • Object Parameters • Program Parameters • Program Flags Using Parameters and Bits You can specify parameters and bits in your programs or at a terminal emulator. Use the following format: Px or BITx, where x represents the parameter or bit number. Example The following demonstrates how to format parameters and bits. Suppose your program refers to the current position for axis 0 (see table P12288-P14199 Axis Parameters), and input 24 (see table Bit0Bit31 Opto-Isolated Inputs). P12288 Bit24 Setting Binary Bits You can use the SET command, or fix the bit value equal to 1. Example The following demonstrates how to set at bit. All methods are valid. SET 32 Bit32=1 SET Bit32 Clearing Binary Bits You can use the CLR command, or fix the bit value equal to 0. Example The following demonstrates how to set at bit. All methods are valid. CLR 32 Bit32=0 CLR Bit32 Programming Basics 57 Parker Hannifin Printing the Current Value You can send the PRINT command followed by a parameter or bit whose value you want to see. Bits return the following values: • -1 when set. • 0 when clear. You can use a question mark in place of the PRINT command. The question mark is a shortcut in a terminal emulator. NOTE: When printing a system parameter, the value returned is either an integer or a 32-bit floating point. When printing a user parameter (P0-P4095), the value returned is either an integer or 64-bit floating point. Example The following demonstrates how to view values stored in parameters and bits. Parameter 6144 provides the current encoder position; Bit24 provides the current state of input 24. PRINT P6144 PRINT Bit24 ?P6144 ?Bit24 A Word on Aliases Parameters and bits can use aliases. You only need to assign the alias once, and then can use it throughout user programs. The alias lets you provide a name that makes sense for programs, and makes programs easier to read. For more information, see Aliases Aliases. 58 Programmer’s Guide Parker Hannifin Programming Example The following program creates a square. You can use ACR-View to set up the controller. Then enter the program into program 0 and download it to the controller. RES X Y : REM reset encoder registers to 0 at startup _LOOP ACC 50 : REM set trajectory generator acceleration DEC 50 : REM set trajectory generator deceleration STP 50 : REM set trajectory generator stop ramp VEL 5 : REM set target velocity X5 : REM move axis to position Y5 : REM move axis to position X0 : REM move axis to position Y0 : REM move axis to position GOTO LOOP ENDP Before running the program, make sure you are at the program 0 prompt in the terminal emulator. The LRUN command lets you listen to through a terminal to the PRINT statements and error messages. This is the only way to view program errors. ► To run the program, type LRUN When ready to exit the listening mode, press the ESC key (ASCII 27). As the program runs, you can pause the program by setting the Feedhold Request bit or sending the PAUSE command. The Feedhold Request bit stops the axes using the deceleration value. ► To set the Feedhold Request bit, type SET 520. You can resume the program by setting Cycle Start Request bit or sending the RESUME command. The Cycle Start Request bit starts the axes using the acceleration value. ► To set the Cycle Start bit, type SET 521. While the program is in a feedhold, you can check the encoder position of each axis. ► To view the axis X encoder position, type PRINT P6144. ► To view the axis Y encoder position, type ?P6160 Programming Basics 59 Parker Hannifin Parametric Evaluation Most commands take arguments. Often, those command-line arguments are literals—values that are interpreted as they are written. For example, axis numbers, bit index numbers, acceleration or deceleration speeds, or positional values. In addition to literals, you can use expressions (also called formulas). The ACR controller can solve complex integer or floating point math. To use expressions, you must enclose them in parentheses. Expressions can use the following: • Constants • Variables • Parameters • Bits • Aliases An expression is comprised of at least one operand and one or more operators. Operands are values, whether numerals or variables. Operators are symbols that represent specific actions. For example, the plus sign (+) represents addition, and the forward slash (/) represents division. In the expression A+7 A and 7 are operands, and + is an operator. NOTE: For a complete list of operators available, see the Expression Reference section of the ACR Command Language Reference. Operations are performed in the following order: • Powers • Multiplication and division • Addition and subtraction • Relational operations (such as greater than, less than, not equal to) The hyperbolic (sine, cosine, tangent, etc.) and miscellaneous operators (absolute value, natural log, square root, etc.) require parentheses around their own expressions. The order of operations with such operators begins with the deepest nested parentheses. 60 Programmer’s Guide Parker Hannifin Parentheses Using parentheses, you can group operations in an expression to change the order in which they are performed. Operational Order For example, the expression 4+6/2 provides the answer 7, and not 5, because division performs before addition. When a mathematical expression contains operators that have the same rank, operations are performed left to right. For example, in the expression 2+6/3*5-9 division and multiplication perform before addition and subtraction. The first operation is 6 / 3; the second operation multiplies the result 2 by 5, which results as 10. In the third operation, add 2 to 10, which results as 12. In the fourth operation, subtract 9 from 12 to produce the final answer of 3. By using parentheses, you can change the order of operations in an expression. That is, operations in parentheses are performed first, then operations outside the parentheses. For example, the expression (2 + 6 / 3) * 5 - 9 results in an answer of 11, while the expression (2 + 6 / 3) * (5 - 9) results in -16 as the answer. Nested Parentheses You can also embed parentheses, where operations in the deepest parentheses are performed first. For example, the expression ((7 + 3) / 2) * 3 contains embedded parentheses. From the example, the first operation is 7+3, the second operation is 10/2, and the third operation is 5*3, which results in 15 as the answer. Examples The following demonstrate some simple uses of expressions. The examples assume memory space is allocated for the variables. Example 1 The following causes axis X to move position to the resulting value of the expression. X(P0 + P2 * P30) Programming Basics 61 Parker Hannifin Example 2 When the following IF statement proves true, the message “OK” prints. IF(P0=1234) THEN PRINT “ok” Example 3 The following concatenates strings $V1 and $V2, and sets string $V0 equal to the result. $V0 = $V1 + $V2 Example 4 The following program generates a random number from 0 to 999. As the program loops, it counts each loop. When the number equals 123, the program exits the loop and prints the count. PROGRAM DIM LV(2) : REM dimension 2 long variables LV0=0 : REM set LV0 equal to 0 _LOOP1 LV1=RND(1000) : REM set LV1 equal to random number LV0=LV0+1 : REM increment LV0 with each loop IF (LV1<>123) THEN GOTO LOOP1 PRINT “Done in”;lv0;”tries” ENDP Example 5 The following flashes the first 30 outputs in a random sequence. PROGRAM DIM DV(1) : REM dimension 1 floating point variable _LOOP2 DV0=RND(4294967295) : REM set DV0 equal to random number P4097= DV0 : REM set onboard outputs equal to DV0 GOTO LOOP2 ENDP 62 Programmer’s Guide Parker Hannifin Basic Setup Before You Begin The tables in this section list commands according to the following command groups: Axis Limits Non-Volatile Character I/O Operating System Drive Control Program Control Feedback Control Program Flow Global Objects Servo Control Interpolation Setpoint Control Logic Function Transformation Memory Control Velocity Profile Warning — ACR Series products are used to control electrical and mechanical components of motion control systems. You should test your motion system for safety under all potential conditions. Failure to do so can result in damage to equipment and/or serious injury to personnel. Basic Setup 63 Parker Hannifin Axis Limits Command Description ALM Set stroke limit ‘A’ BLM Set stroke limit ‘B’ EXC Set excess error band HLBIT Set hardware limit/homing input HLDEC Hardware limit deceleration HLIM Hardware limit enable IPB Set in-position band ITB Set in-torque band JLM Set jog limits MAXVEL Set velocity limits PM Position maintenance SLDEC Software limit deceleration SLIM Software limit enable SLM Software positive/negative travel range TLM Set torque limits Character I/O Command Description CLOSE Close a device DTALK Drive talk INPUT Receive data from a device OPEN Open a device PRINT Send data to a device TALK TO Talk to device Drive Control 64 Command Description DRIVE Drive report-back EPLC Define EPLC Programmer’s Guide Parker Hannifin Feedback Control Command Description HSINT High speed interrupt INTCAP Encoder capture MSEEK Marker seek operation MULT Set encoder multipliers NORM Normalize current position OOP High speed output PPU Set axis pulse/unit ratio REN Match position with encoder RES Reset or preload encoder ROTARY Set rotary axis length Global Objects Command Description ADC Analog input control ADCX Expansion board analog input AXIS Direct axis access CIP Ethernet/IP status DAC Analog output control ENC Quadrature input control FSTAT Fast status setup LIMIT Frequency limiter MASTER Direct master access PLS Programmable limit switch RATCH Software ratchet SAMP Data sampling control Basic Setup 65 Parker Hannifin Interpolation Command Description CIRCCW Counter clockwise circular move CIRCW Clockwise circular move INT Interruptible move INVK Inverse kinematics MOV Define a linear move NURB NURBs interpolation mode SINE Sinusoidal move SPLINE Spline interpolation mode TANG Tangential move mode TARC 3-D circular interpolation TRJ Start new trajectory Logic Function Command Description CLR Clear a bit flag DWL Delay for a given period IHPOS Inhibit on position INH Inhibit on bit high or low MASK Safe bit masking SET Set a bit flag TRG Start move on trigger Memory Control 66 Command Description CLEAR Clear memory allocation DIM Allocate memory MEM Display memory allocation Programmer’s Guide Parker Hannifin Non-Volatile Command Description BRESET Disable battery backup ELOAD Load system parameters ERASE Clear the EEPROM ESAVE Save system parameters FIRMWARE Firmware upgrade/backup FLASH Create user image in flash PBOOT Auto-run program PROM Dump burner image Operating System Command Description ATTACH Define attachments CONFIG Hardware configuration CPU Display processor loading DEF Display the defined variable #DEFINE Define variable DETACH Clear attachments DIAG Display system diagnostics ECHO Character echo control HELP Display command list IP IP address MODE Binary data formatting PASSWORD Block uploading programs from board PERIOD Set base system timer period PLC Switch to a PLC prompt PROG Switch to a program prompt REBOOT Reboot controller card STREAM Display stream name SYS Return to system prompt VER Display firmware version Basic Setup 67 Parker Hannifin Program Control Command Description AUT Turn off block mode BLK Turn on block mode HALT Halt an executing program LIST List a stored program LISTEN Listen to program output LRUN Run and listen to a program NEW Clear out a stored program PAUSE Activate pause mode REM Program comment RESUME Release pause mode RUN Run a stored program STEP Step in block mode TROFF Turn off trace mode TRON Turn on trace mode Program Flow 68 Command Description BREAK Exit a program loop END End of program execution ENDP End program without line numbers FOR / TO / STEP / NEXT Relative program path shift GOSUB Branch to a subroutine GOTO Branch to a new line number IF/ELSE IF/ELSE/ENDIF Conditional execution IF / THEN Conditional execution PROGRAM Beginning of program definition RETURN Return from a subroutine WHILE/WEND Loop execution conditional Programmer’s Guide Parker Hannifin Servo Control Command Description DGAIN Set derivative gain DIN Dead zone integrator negative value DIP Dead zone integrator positive value DWIDTH Set derivative sample period DZL Dead zone inner band DZU Dead zone outer band FBVEL Set feedback velocity FFACC Set feedforward acceleration FFVC Feedforward velocity cutoff region FFVEL Set feedforward velocity FLT Digital filter move IDELAY Set integral time-out delay IGAIN Set integral gain ILIMIT Set integral anti-windup limit KVF PV loop feedforward gain KVI PV loop integral gain KVP PV loop proportional gain LOPASS Setup lopass filter NOTCH Setup notch filter PGAIN Set proportional gain Setpoint Control Command Description BKL Set backlash compensation BSC Ballscrew compensation CAM Electronic cam GEAR Electronic gearing HDW Hand wheel JOG Single axis velocity profile LOCK Lock gantry axis UNLOCK Unlock gantry axis Basic Setup 69 Parker Hannifin Transformation Command Description FLZ Relative program path shift OFFSET Absolute program path shift ROTATE Rotate a programmed path SCALE Scale a programmed path Velocity Profile 70 Command Description ACC Set acceleration ramp DEC Set deceleration ramp F Set velocity in units/minute FOV Set feedrate override FVEL Set final velocity IVEL Set initial velocity JRK Set jerk parameter (S-curve) LOOK Lookahead mode MBUF Multiple move buffer mode ROV Set rapid feedrate override SRC Set external time base STP Set stop ramp SYNC Synchronization mode TMOV Set time based move TOV Time override VECDEF Define automatic vector VECTOR Set manual vector VEL Set target velocity for a move Programmer’s Guide Parker Hannifin Startup Programs You can set a program to automatically run on powering up or rebooting the controller. The PBOOT command provides that ability. • The PBOOT command must appear as the first statement in a program. • From a terminal, sending the PBOOT command starts all PBOOT programs. • Every PROG and PLC can use PBOOT. Example The following program runs on power-up, flashing output 32. PROGRAM PBOOT : REM PBOOT must appear as first line REM Beginning of loop _LOOP1 BIT 32 = NOT BIT 32 DWL 0.25 GOTO LOOP1 ENDP Resetting the Controller When you reset the controller, it shuts down communications, turns off outputs, and kills all programs. For controllers with non-volatile memory, the controller stores all conditions. There are several ways to reset the ACR series controller: • Cycle power. • Send the REBOOT command. Memory Memory allocation is completely customizable on the ACR series controllers. The DIM commands allocate memory to program and PLC spaces, global and local variables, communication streams, and aliases. Once you have allocated memory, you cannot change it without first clearing the memory space. Otherwise, you receive a “Redimensioned block” error. For information about memory allocation, see Memory Allocations. Basic Setup 71 Parker Hannifin Return to Factory Default Various commands can return specific sections of the ACR controller to factory default. To reset the entire ACR controller, you must issue certain commands in a specific order. 1. Open ACR-View 2. Connect to the controller. 3. Open a Terminal Editor. 4. At the system prompt, enter the following commands in order: HALT ALL NEW ALL DETACH ALL CLEAR ERASE FLASH ERASE (omit for ACR8000) CONFIG CLEAR CLEAR DPCB (use only with ACR1505 and ACR8020) CLEAR FIFO (omit for ACR9000) CLEAR COM1 CLEAR COM2 BRESET REBOOT Configuration Because the ACR series controller is powerful and flexible, it requires configuration for your particular application. There are two methods: you can manually write the configuration code, or use the Configuration Wizard in the ACR-View software. As the number of axes increase, the code required to configure a controller can be extensive. The Configuration Wizard helps ensure all constituent devices are configured quickly and correctly. The configuration code for different models of ACR series controllers varies—dependant on each model’s distinct feature set and options, as well as various drives, motors and encoders connected to it. In addition, the firmware revision you have for a controller can affect which features and AcroBASIC commands are available to you. 72 Programmer’s Guide Parker Hannifin The wizard makes some choices for you behind the scenes. The ACR9000 has the largest feature set, and typically requires configuration for those features. The ACR1505 and ACR8020 may require different configuration. The Configuration Wizard, once completed, lets you review the code it has generated. In that configuration code, you might find code for features that do not apply to your specific controller. For example, for an ACR9000 the wizard generates code for CANopen defaults, though your particular controller may not have the CANopen option. This does not impair the controller or its performance. NOTE: The wizard does not collect data in the same order in which code is written. A Note on the Jog/Home/Limits Dialog In the Configuration Wizard, the Jog/Home/Limits dialog lets you test and commission a specific axis. You can set a motion profile to exercise the axis, allowing you to test its performance when jogging or homing. The Jog/Home/Limits dialog is only for testing, and does not write any jogging or homing code. What is Configuration Code? To get a sense of what configuration code looks like—the requirements and order of items, as well as information that goes into the program space—the following example looks at the code resulting from the Getting Started-Tutorial. NOTE: The application is controlled by a 4-axis ACR9000 (Stand Alone with COM port, Ethernet, USB, standard memory—no battery backup—, and no daughter card). The Code The wizard generates the Primary System Settings automatically, and does not collect data for this. If you are writing your own configuration code, it is good coding practice to include the following at the beginning. The controller is switched to the SYS prompt. From there, all program execution is halted (HALT ALL), all user programs and PLC programs are deleted (NEW ALL), all memory allocations are cleared (CLEAR), and all slaves are detached from their respective masters (DETACH ALL). REM -- Primary System Settings for ACR Device SYS HALT ALL NEW ALL CLEAR DETACH ALL Basic Setup 73 Parker Hannifin If you do not make any changes to the Memory defaults, the wizard allocates additional memory to programs zero and one. In addition, the wizard allocates memory to program 15, which stores wizard data. REM-----Allocate system memory----DIM PROG0(8192) DIM PROG1(4096) DIM PROG2(1000) DIM PROG3(1000) DIM PROG4(1000) DIM PROG5(1000) DIM PROG6(1000) DIM PROG7(1000) DIM PROG8(1000) DIM PROG9(1000) DIM PROG10(1000) DIM PROG11(1000) DIM PROG12(1000) DIM PROG13(1000) DIM PROG14(1000) DIM PROG15(28672) REM Some Global Memory is used by Wizard Generated Code REM P0000 - P0099 Available for User programs REM P0100 - P0200 Reserved for Software Limits Code REM P0201 - P4095 Available for User programs DIM P(100) DIM DEF(20) The Configuration Wizard, again, generates default configuration information. The wizard explicitly sets the ADC mode—the ACR9000 is a 16-bit card and cannot operate otherwise. The next section is specific to the ACR9000 and does not apply to other ACR Controllers. Though the controller in this example does not have CANopen, the wizard generates the set up for CANopen. When writing your own configuration files, the ADC MODE statement is not required for the ACR9000. Likewise, if the controller does not have the CANopen feature, the CANopen setup is not required. REM -- Hardware Configuration REM 0 = 12 bit card present, 1 = 16 bit card present ADC MODE 1 REM CANopen Settings P32768=5 P32769=125 P32772=50 P32770=0 Then begins axis-specific configuration. The axis feedback and signal output information comes from the Axis and Feedback dialogs. The PPU (pulses per programming unit) is computed from data provided through the Feedback and Scaling dialogs. The excess error band data comes from the Fault dialogs. ATTACH AXIS0 ENC0 DAC0 ENC0 AXIS0 PPU 39999.999404 AXIS0 EXC (0.2,-0.2) 74 Programmer’s Guide Parker Hannifin The next section is specific to the ACR9000 and currently does not apply to other ACR controllers. The Extended I/O section sets and clears bits related to homing, hardware and software limits, and drive faults—all performed behind the scenes and does not come from user supplied data. REM ACR Extended IO Settings SET BIT8468 CLR BIT8464 CLR BIT8470 SET BIT8469 CLR BIT8453 CLR BIT8471 ENC0 SRC 0 ENC0 MULT 4 The next section is specific to the ACR9000 and does not apply to other ACR controllers. From the Servo Gains dialog, the gain values are fixed. REM Axis Gains values AXIS0 PGAIN 0.002441 AXIS0 IGAIN 0 AXIS0 ILIMIT 0 AXIS0 IDELAY 0 AXIS0 DGAIN 1e-005 AXIS0 DWIDTH 0 AXIS0 FFVEL 0 AXIS0 FFACC 0 AXIS0 TLM 10 AXIS0 FBVEL 0 The next section is specific to the ACR9000 and does not apply to other ACR controllers. From the Fault dialog, the axis limit features are enabled and values fixed. Then the DAC gain is fixed, and the Axis is enabled. REM Axis Limits AXIS0 HLDEC 500 SET BIT16144 SET BIT16145 SET BIT16148 SET BIT16149 AXIS0 SLM (24,0) AXIS0 SLDEC 500 CLR BIT16150 CLR BIT16151 DAC0 GAIN 3276.8 AXIS0 ON The setup for axes 1 and 2 are similar to axis 0. ATTACH AXIS1 ENC1 DAC1 ENC1 AXIS1 PPU 39999.999404 AXIS1 EXC (0.2,-0.2) REM ACR Extended IO Settings SET BIT8500 CLR BIT8496 CLR BIT8502 SET BIT8501 CLR BIT8485 CLR BIT8503 ENC1 SRC 0 ENC1 MULT 4 REM Axis Gains values AXIS1 PGAIN 0.002441 AXIS1 IGAIN 0 AXIS1 ILIMIT 0 Basic Setup 75 Parker Hannifin AXIS1 IDELAY 0 AXIS1 DGAIN 1e-005 AXIS1 DWIDTH 0 AXIS1 FFVEL 0 AXIS1 FFACC 0 AXIS1 TLM 10 AXIS1 FBVEL 0 REM Axis Limits AXIS1 HLBIT 3 AXIS1 HLDEC 100 SET BIT16176 SET BIT16177 SET BIT16180 SET BIT16181 AXIS1 SLM (24,0) AXIS1 SLDEC 100 CLR BIT16182 CLR BIT16183 DAC1 GAIN 3276.8 AXIS1 ON ATTACH AXIS2 ENC2 DAC2 ENC2 AXIS2 PPU 39999.999404 AXIS2 EXC (0.2,-0.2) REM ACR Extended IO Settings SET BIT8532 CLR BIT8528 CLR BIT8534 SET BIT8533 CLR BIT8517 CLR BIT8535 ENC2 SRC 0 ENC2 MULT 4 REM Axis Gains values AXIS2 PGAIN 0.002441 AXIS2 IGAIN 0 AXIS2 ILIMIT 0 AXIS2 IDELAY 0 AXIS2 DGAIN 1e-005 AXIS2 DWIDTH 0 AXIS2 FFVEL 0 AXIS2 FFACC 0 AXIS2 TLM 10 AXIS2 FBVEL 0 REM Axis Limits AXIS2 HLBIT 6 AXIS2 HLDEC 100 SET BIT16208 SET BIT16209 SET BIT16212 SET BIT16213 AXIS2 SLM (6,0) AXIS2 SLDEC 100 CLR BIT16214 CLR BIT16215 DAC2 GAIN 3276.8 AXIS2 ON 76 Programmer’s Guide Parker Hannifin All the unused axes are turned off—this is done directly with the AXIS OFF command rather than using bits designated for this purpose. Turning off the axes reduces CPU load and increases system performance. REM Turn off any unused Axes AXIS3 OFF AXIS4 OFF AXIS5 OFF AXIS6 OFF AXIS7 OFF REM Code Generated by ComACRsrvr Module, File Version: 1.1.2.9 @ Wednesday, March 15, 2006 17:00:43 REM Code Generated from map:program8k v1.1 CodeMap File:C:\WINDOWS\system32\kjconfig.cmp v3.5 REM Program Level setup for the ACR Card In the program space, the attachments are made. If you are writing your own configuration code, it is a good coding practice to include the a DETACH statement before the ATTACH statements. The Axis Name comes from the Axis dialog, the master/slave information comes from the Masters dialog, and the acceleration, deceleration, and stop ramps and velocity come from the Master dialog. PROG0 DETACH ATTACH MASTER0 ATTACH SLAVE0 AXIS0 "X" ATTACH SLAVE1 AXIS1 "Y" REM the desired master acceleration ACC 10 REM the desired master deceleration ramp DEC 10 REM the desired master stop ramp (deceleration at end of move) STP 10 REM the desired master velocity VEL 5 REM the desired acceleration versus time profile. JRK 0 REM Code Generated by ComACRsrvr Module, File Version: 1.1.2.9 @ REM Wednesday, March 15, 2006 17:00:43 REM Code Generated from map:program8k v1.1 CodeMap REM File:C:\WINDOWS\system32\kjconfig.cmp v3.5 REM Program Level setup for the ACR Card PROG1 DETACH ATTACH MASTER1 ATTACH SLAVE0 AXIS2 "Z" Basic Setup 77 Parker Hannifin REM the desired master acceleration ACC 20 REM the desired master deceleration ramp DEC 20 REM the desired master stop ramp (deceleration at end of move) STP 20 REM the desired master velocity VEL 10 REM the desired acceleration versus time profile. JRK 0 Resources Reserved for Generated Code The Configuration Wizard reserves controller resources based on the controller, its firmware version, and the features you enable. When you save the configuration, the wizard generates AcroBASIC code and saves it to specific user and PLC programs. The Configuration Wizard saves all configuration data to a Setup.8K file. Depending on which controller and the firmware version, it may also save Drive I/O or Configuration Wizard data to various user and PLC program files. NOTE: Do not edit the source files generated by the Configuration Wizard. Firmware Versions 1.18.15 and up (ACR9000 only) The wizard generates AcroBASIC code and places it in the Setup.8K file. The Prog15.8K file contains the configuration wizard data. Firmware Versions Up to 1.18.14 (All ACR Controllers) The wizard generates AcroBASIC code and places it in the Setup.8K file. The Prog7.8K, PLC5.8K, PLC6.8K, and PLC7.8K files contain the configuration wizard data and code for Hardware Limits, Software Limits, and Drive Fault (hardware-input based drive fault, or software-based following error drive fault) features. PLC programs have limited memory space. If the resulting code exceeds the limit for a PLC program, the Configuration Wizard splits it among several PLC programs. The wizard uses the PLC5.8K file first, and uses the PLC6.8k and PLC7.8k files as needed. 78 Programmer’s Guide Parker Hannifin NOTE: By default, the wizard matches motion profiles to programs of the same number. Because the wizard reserves the Prog7.8k file for the above-mentioned features, the MASTER07 motion profile definition is placed in the Prog08.8k file. If no other programs are defined beyond the Prog08.8k file, the controller continues scanning programs 00-08 without delay. There is no delay executing the Prog08.8k file and MASTER07. If any of the programs Prog09 through Prog15 are used, then Prog08 will not execute as quickly as PROG00 to PROG07.S Global (P) Variables The wizard generates code using global variables P100-P131 for Software end-of-travel limits routines. Each variable corresponds to a specific axis and direction of travel, as summarized below. NOTE: Do not change these values in user programs unless specifically modifying them to change the end-of-travel limit. • P100-P115 Positive Software End-of-Travel Limits: For example, P100 contains the value for Axis0, P101 for Axis1, etc. • P116-P131 Negative Software End-of-Travel Limits: For example, P116 contains the value for Axis0, P117 for Axis1, etc. User Flags (Group 5-8) The wizard generates code using bits 1952-2047 for drive-fault and end-of-travel routines. Each range of bits correspond to a range of axes and a specific drive or travel limit function, as summarized below. Items marked with an asterisk (*) apply only to 16-axis ACR series controllers. Therefore, an 8-axis controller can use the flags otherwise used for axes 8-16. • Bits 1952-1959 Drive Faulted Flag Axes 0-7: Triggered by conditions that fault a drive (either hardware input or following error) and is used in the PLC program to stop motion on the specific axis. • Bits 1960-1967 Drive Faulted Flag Axes 8-15*: Triggered by conditions that fault a drive (either hardware input or following error) and is used in the PLC program to stop motion on the specific axis. • Bits 1968-1975 Drive Disabled Flag Axis 0-7: Triggered when a drive is faulted (or optionally when motion is killed) and is used by the PLC program to set the Drive Disable output. Basic Setup 79 Parker Hannifin 80 • Bits 1976-1983 Drive Disabled Flag Axis 8-15*: Triggered when a drive is faulted (or optionally when motion is killed) and is used by the PLC program to set the Drive Disable output. • Bits 1984-1991 Drive Enable Flag Axis 0-7: Triggered when a drive is faulted or disabled, the flag signals the Drive Enable function to clear the faulted condition and enable the drive. • Bits 1992-1999 Drive Enable Flag Axis 8-15*: Triggered when a drive is faulted or disabled, the flag signals the Drive Enable function to clear the faulted condition and enable the drive. • Bits 2000-2007 Software Limit Flag Axis 0-7: Triggered when a software limit is hit. • Bits 2008-2015 Software Limit Flag Axis 8-15*: Triggered when a software limit is hit. • Bits 2016-2023 Hardware Positive Limit Flag Axis 0-7: Triggered when a hardware limit is hit. • Bits 2024-2031 Hardware Positive Limit Flag Axis 8-15*: Triggered when a positive hardware limit is hit. • Bits 2032-2039 Hardware Negative Limit Flag Axis 0-7: Triggered when a hardware negative limit is hit. • Bits 2040-2047 Hardware Negative Limit Flag Axis 8-15*: Triggered when a negative hardware limit is hit. Programmer’s Guide Parker Hannifin Making Motion Now that the controller is configured, it is ready to make motion. The ACR controller can perform linear, circular, or more complex motion with a single axis or multiple axes. Four Basic Categories of Motion There are four basic categories of motion used in motion control: coordinated, jog, gear, and cam. • Coordinated Moves Profiler (Multi-Axis Profile): Use the MOV command for linear-interpolated incremental and absolute moves. It also allows circular interpolation (CIRCW, CIRCCW, SINE, and TARC). The trajectory values are “path” values. • Jog Profiler (Single-Axis Profile): Use the JOG commands for incremental, absolute, or continuous moves. The Jog Profiler is axis-independent, meaning that each axis uses its own trajectory values independent of other axes. • Gear Profiler (Electronic Gear): Use the GEAR commands to control motion based on an external source—such as an electronic gearbox, trackball, follower axis, feed-to-length, or changes of ratio related to position. • Cam Profiler (Electronic Cam): Use the CAM commands to control irregular motion using data tables. The Cam Profiler provides control of complex motion, and is best used in situations where the Gear Profiler is unable to perform satisfactorily. Regardless of the type of motion or number of axes used, the controller must always be set up for coordinated motion. This may be done by using the Configuration Wizard or by writing custom configuration code, and including master, slave, and axis attachment statements. The attachment statements make the basic connections to a coordinated motion profiler. For more information, see Attachments. After making the necessary attachments, a motion profile can be defined. The following sections examine the different move types and motion profilers. Making Motion 81 Parker Hannifin Move Types To command motion, use a command appropriate to the desired type of motion, such as JOG (single-axis profile), CIRCW (TwoDimensional Clockwise Circle), CIRCCW (Two-Dimensional Counter Clockwise Circle), SINE (Sinusoidal Move), or TARC (3-D Arc) The MOV (Define a Linear Move) command activates linear-interpolated motion. When the user includes several axes in a single statement, the controller coordinates the moves (meaning the axes complete their respective moves at the same time.) Whereas, if each axis is written as an independent statement, the controller treats them as independent moves and they are performed one at a time. The MOV command is not necessary for coordinated motion because the controller recognizes an axis name and a value as commanded motion, such as X500. When multiple axes are written in a single statement, such as X500 Y100, the motion is coordinated. NOTE : When commanding motion, you must use the axis name; the axis number is not a valid way to indicate an axis. For more information on Axis names, see Slaves and Axis Names. Absolute Motion Absolute motion is commanded with respect to the established “home” or reference location. To make a linear-interpolated move with the MOV command, use the arguments axis target, specifying the axis name followed by the target position. Example 1 The following moves the X axis to the absolute position of 10 units. MOV X10 Example 2 To command linear-interpolated motion without MOV, the axis and position must be designated. The following also moves the X axis to the absolute position of 10 units in an identical manner as Example 1. X10 Example 3 If motion is commanded for multiple axes on a single line, the controller treats it as coordinated motion. The X and Y axes complete their respective moves at the exact same time. X20 Y-30 82 Programmer’s Guide Parker Hannifin Incremental Motion Incremental motion is commanded relative to the current position. To move an incremental distance (a distance “relative” to the current position), use a slash mark ( / ) following the axis. NOTE: The slash mark is only applicable in linear-interpolated motion. Example 1 In this example, the X axis moves an incremental distance of 20 units from its current position. Then the Y axis moves a decremental distance of 30 units from its current position. X/20 Y/-30 Example 2 The X axis makes an incremental move, Y axis makes an absolute move, and Z axis makes a decremental move. Written on the same line, this is a coordinated move; all axes complete their moves at the same time. X/2 Y2 Z/-2 Comparing Absolute and Incremental Motion Different types of motion can be used to achieve the same result. The following examples show absolute and incremental motion, and a combination of the two. All three examples end at the absolute position of 400 units. Example—Absolute Motion The X axis is commanded to the following absolute positions: X0 X100 X200 X300 X400 Making Motion 83 Parker Hannifin Example—Incremental Motion The X axis is commanded to the following relative positions: X0 X/-400 X/500 X/200 X/100 Example—Absolute and Relative The X axis is commanded to the following absolute and incremental positions. x/-400 x200 x/50 x400 84 Programmer’s Guide Parker Hannifin Combining Types of Motion The user can command multiple types of motion (linear, circular, or sinusoidal) in a single statement. The controller coordinates the motion of all axes in the statement regardless of the type of motion. Example The following illustrates a coordinated move where the X axis performs linear-interpolation and the Y axis performs sinusoidal interpolation. X2 SINE Y(0,90,90,100) Immediate Mode While a program is running, the master velocity can be changed for a master (and all axes attached to it). The change is instantaneous, and takes effect even if the axis or axes are moving. Use the FOV (Set Feedrate Override) command to set a floatingpoint scaling factor to adjust the master velocity. If a move is in progress, the master uses the established acceleration or deceleration ramp to adjust to the new velocity. NOTE: The FOV command does not change the master velocity permanently and the change is not saved. To make a permanent change, adjust the master velocity in the program code either manually or through the Configuration Wizard. For more information about feedrate override, see the FOV command in the ACR Command Language Reference. Example The following is typed in at the prompt by the user. It reduces the master velocity for all attached axes to 75%, then 50%, and then returns the velocity to 100%. FOV 0.75 FOV 0.50 FOV 1.00 Differences Between FOV and VEL While a program is running, both the FOV and VEL (Set Target Velocity for a Move) commands can be set, but each affects motion differently: • FOV immediately affects all axes attached to the master. • VEL is buffered in memory. The newly commanded velocity does not take effect until current motion is completed. Making Motion 85 Parker Hannifin What are Motion Profiles? To make motion, the user must define the motion profile. The acceleration, deceleration, stop ramps, velocity, and distance (ACC, DEC, STP, VEL, and MOV commands, respectively) set the motion profile values. • Acceleration: The ACC (Set Acceleration Ramp) command sets the master acceleration. The master acceleration is used to ramp from lower to higher speeds. The value is in units per second 2 . • Velocity: The VEL (Set Target Velocity for a Move) command sets the target velocity for subsequent moves. The value is in units per second. • Deceleration: The DEC (Set Deceleration Ramp) command sets the deceleration used to ramp from higher to lower speeds. The value is in units per second 2 . The deceleration ramp is only used when the stop ramp is zero. Use the DEC ramp to blend moves. • Stop: Use the STP (Set Stop Ramp) command to set the master deceleration ramp used at the end of the next move. The value is in units per second 2 . When the stop ramp is set to zero, the move ends without ramping down. This allows you to merge back-to-back moves. The final velocity of the first move becomes the initial velocity of the second move. Motion profiles can be graphically represented. The following illustrates the ACC, DEC, and STP values as a typical trapezoidal motion profile. All motion profile values are entered in user-based units (inches, millimeters, degrees, revolutions, or other units). Use the PPU (Set Axis Pulse per Unit Ratio) command to relate the feedback pulse to the unit of measure. (The PPU command sets the ratio of pulses per programming unit.) The controller computes the motion trajectory from the motion profile data. 86 Programmer’s Guide Parker Hannifin Motion profile values for each master can be set in two ways: ► Through the Configuration Wizard. ► In a program using the appropriate motion profile statements (ACC, DEC, STP, or VEL). In either case, the program continues to use those motion profile values until new values are commanded. NOTE: Motion profile values in a specific program can be changed from within a different program using the MASTER (Direct Master Access) command. A master must be attached to each program, and is usually the same number as the program number. For more information about masters, see Master/Slave Attachments. For example, to change the velocity in program zero to 500, send the following: MASTER0 VEL500. Example The following example assumes a 1000 line encoder attached to a motor. The MULT (Set Encoder Multipliers) command brings the value to 4000. Then PPU X4000 sets the programming units to revolutions (4000 pulses/rev) for the rest of the program. The X axis moves 200 revolutions at 20 revs/second, using 10 revs/second² ramps. MULT X4 PPU X4000 ACC 10 DEC 10 STP 10 VEL 20 MOV X200 Interaction Between Motion Profilers Any combination of motion profilers can be used to carry out motion for an application. As stated previously, the controller must be set up for coordinated motion. Once this is done, the other motion profilers can be accessed through the JOG, GEAR, and CAM commands. Before writing code, it is important to understand how the motion profilers interrelate. • Each motion profiler calculates its own commanded position— the absolute and relative moves for an axis or axes. • No motion profiler supersedes another; there is no hierarchy among the profilers. Making Motion 87 Parker Hannifin Primary Setpoint All profilers feed their commanded positions to a summation point, and the result is the Primary Setpoint for each axis. See Figure 1. Figure 1 Primary Setpoint Summation In effect, the Jog, Gear, and Cam profilers act as offsets to the Coordinated Motion Profiler. The example below demonstrates the offset concept. Example Suppose an application cuts four diamond shapes from sheets of stock. The program commands motion of axes X, Y, and Z. For simplicity, this example focuses only on the X and Y axes. Rather than plotting the cutting motion by providing the coordinates for each diamond, the code in this example provides the coordinates for one diamond and uses the Jog Profiler to offset the coordinates for the remaining diamonds. The axes are attached to a Coordinated Moves Profiler (see Master/Slave Attachments). The cutting tool starts at coordinates (0, 0) in the lower left quadrant of the stock. Subsequent diamonds are cut in sequence from upper left, upper right, and lower right quadrants. The first shape is cut based on the following moves: X-2 Y1 X0 Y2 X2 Y1 X0 Y0 88 Programmer’s Guide Parker Hannifin For the second shape, instead of providing a new set of X and Y coordinates, a jog statement is used to shift the Y axis 3 units. You can then provide the same coordinates used to cut the first shape. The new starting position becomes coordinates (0, 3). JOG ABS Y3 X-2 Y1 X0 Y2 X2 Y1 X0 Y0 To cut the third and fourth diamond shapes, jog statements again shift the starting positions for axes X and Y. After each jog statement, the coordinates of the first shape are reused. JOG ABS X5 X-2 Y1 X0 Y2 X2 Y1 X0 Y0 JOG ABS Y0 X-2 Y1 X0 Y2 X2 Y1 X0 Y0 So what is happening? Each motion profiler calculates its own commanded position, which is sent to a summation point. The coordinated move, jog, gear, and cam data is combined for each axis to create a setpoint. Making Motion 89 Parker Hannifin The Coordinated Moves Profiler always starts and ends at coordinates (0, 0). With the first shape, there are no JOG, GEAR, or CAM commands, so the setpoint for the X and Y axes is (0,0): For the second shape, the jog statement tells the Jog Profiler to start the Y axis at 3 units. At the summation point, this data is added to the values from the other profilers to yield a Y-axis setpoint of +3: For the third shape, the jog statement adjusts the starting point again, this time changing the X axis to 5. The Y axis has not been jogged so it stays at its previous value of +3: For the fourth shape, the jog statement adjusts the starting point for the Y axis back to 0. The X axis has not been jogged so it stays at its previous value of +5: Without offsets, coordinates for each shape would have to be calculated (and debugged). Instead, one set of coordinates can be reused and the starting point shifted through an offset. 90 Programmer’s Guide Parker Hannifin Velocity Profile Commands A basic motion profile for coordinated motion, controlled by an attached master, consists of acceleration, deceleration, stop ramps and a velocity. You can further control coordinated motion using additional velocity profile commands. Axis motion with gear, cam, or jog offsets are controlled solely by their associated commands—for example, CAM OFFSET, CAM SCALE, GEAR ACC, GEAR RATIO, JOG DEC, or JOG JRK. NOTE: To check the setting of a specific motion profile command, enter the command without any arguments. NOTE: To disable a command, set its value to zero. Use the ESAVE command to save coordinated motion and feedback control values in the controller. Otherwise, the system parameters, motion profiles, and master and axis attachments are retained by the controller only until the controller is rebooted or its power cycled. Then all data reverts to its default values. Velocity Profile Setup The following commands further shape and refine the coordinated motion profile. For more information about each command, see the ACR Command Language Reference. • F (Set Velocity in Units per Minute)—sets a move velocity in units/minute. The F command otherwise functions the same as the VEL command. • FOV (Set Feedrate Override)—sets the move velocity manually, without changing the current VEL value. Use FOV to superimpose an additional move onto existing motion. Typically, the FOV provides a manual way to change velocity from a terminal. You can also assign the FOV to an input, providing users a manual way to initiate the superimposed move. For more information, see Immediate Mode. • FVEL (Set Final Velocity)—sets a final velocity value. When a STP value has been set, FVEL can be used to set a target final velocity value. The value is used to slow down between moves, but not stop. Moreover, a move only ramps down to the FVEL value, never up to the value. • JRK (Set Jerk Parameter)—sets the slope of acceleration versus time profile. An s-curve profile provides a smoother motion control by reducing the jerk (rate of change) in acceleration and deceleration portions of the move profile. Because s-curve profiling reduces jerk, it improves position tracking performance. Making Motion 91 Parker Hannifin • ROTARY (Set Rotary Axis Length)—sets a rotary axis length used in a shortest-distance calculation. The resulting move is never longer than half the rotary axis length. • TMOV (Time Based Move)—sets the time (in seconds) in which the move is completed. The controller calculates a new master motion profile to complete the move in the specified time. The new motion profile values for acceleration, deceleration, stop ramps, and velocity are no greater than the user-specified values. • VECDEF (Define Automatic Vector)—controls how the Coordinated Moves Profiler calculates the master move vector. The VECDEF command defines the weight each axis receives in the vector calculation. The default value is 1 for every axis. In some applications, it is not desirable to include an axis in the motion profile calculation. Suppose there is an application with coordinated motion for axes X, Y, and Z, and rotary axis A. Setting the axis A value to zero removes it from the vector calculation. Axis A makes its move within the defined motion profile, but is not part of the calculation itself. • VECTOR (Set Manual Vector)—sets an independent vector value for an axis removed from the motion profile calculation through the VECDEF command. Because the axis is no longer part of the motion profile calculation, it has no master velocity with which it can make independent moves. The VECTOR command provides that value so the axis can make independent moves. Feedback Control Commands The feedback control commands affect the velocity profiles and define the encoder feedback used by axes in the current program. Values must be set for each axis. • MULT (Set Encoder Multipliers)—sets the count direction and the hardware multiplication for the encoder of a given axis. This command affects tuning gains, directions, distances, velocities, and accelerations. Caution —Damage to equipment and/or serious injury to personnel may result if MULT is changed to a value inappropriate to the application. Carefully consider the effects throughout the application before applying a new value, and perform a test without the load or mechanics attached. 92 Programmer’s Guide Parker Hannifin • PPU (Set Axis Pulse per Unit Ratio)—sets the pulses per programming unit for an axis, allowing convenient units for motion profile such as inches, millimeters, or degrees. The PPU for each axis is independent of that of other axes. Caution —Damage to equipment and/or serious injury to personnel may result if PPU is changed to a value inappropriate to the application. Carefully consider the effects throughout the application before applying a new value, and perform a test without the load or mechanics attached. • REN (Match Position with Encoder)—sets the commanded position equal to the actual position for a given axis, thus removing the following error. • RES (Reset or Preload Encoders)—sets the commanded position and actual encoder position to zero for a given axis. It also allows the user to pre-load an axis with a position. Making Motion 93 Parker Hannifin REN Details The REN command copies the actual position from the encoder into the Secondary Setpoint of the servo loop. The values for the Primary Setpoint register and for the Coordinated Moves Profiler’s offset are then calculated backwards from the Secondary Setpoint. This action removes the following error. In the example in Figure 2, the actual position is 11. That number is copied into the register for the Secondary Setpoint, and the Primary Setpoint is then calculated (11). The Jog, Gear, and Cam profilers’ offsets do not change. The values in their registers are subtracted from the Primary Setpoint to get the offset for the Coordinated Moves Profiler: 11–[2+3+4]=2 Figure 2 Calculations for REN Command 94 Programmer’s Guide Parker Hannifin RES Details The RES command is used to zero out the primary setpoint (RES), or to preload positions into the Coordinated Moves Profiler and Actual Position registers (example: RES X10). See Figure 3 for a diagram of the profiler and summation registers for the command RES X10. The values of the Coordinated Moves Profiler, Primary and Secondary Setpoints, and Actual Position registers have been changed to 10. The remaining profilers have been changed to zero. Figure 3 Register Values for RES X10 If RES is used without an axis and preload value, all the registers shown in Figure 3 would be zero (0). Making Motion 95 Parker Hannifin Coordinated Moves Profiler The Coordinated Moves Profiler (formerly called the current position profiler) controls motion for multiple axes using a single set of motion profile values. The MOV command (Define a Linear Move) commands absolute and incremental motion. NOTE: The MOV command is not necessary for coordinated motion. The controller recognizes the axis name and a value as commanded motion, such as X500. Multiple axes can be commanded in a single code statement, such as X500 Y100; the motion is coordinated. No matter what the designed application is, the controller must first be configured for coordinated (linear interpolated) motion. This does not limit the user from simultaneously using the other motion profilers—jog, gear, or cam. Information regarding which elements it is working with is provided to the Coordinated Moves Profiler by the master, slave, and axis attachment statements. The other motion profilers look to the Coordinated Moves Profiler for the configuration data. For more information about making attachments, see Attachments. When multiple axes are moving, the Coordinated Moves Profiler computes the vector based on all the axes target points. The vector moves at the values set through the motion profile (ACC, DEC, STP, and VEL), and is scaled for each axis. Therefore, all axes start, accelerate, decelerate, and stop at the same time. When only one axis is moving, the ACC, VEL, and STP are the same as the master. NOTE: The Coordinated Moves Profiler typically uses the clock as its timebase. 96 Programmer’s Guide Parker Hannifin Example 1 Two axes are attached to the same master and instructed to move to absolute positions: axis X to 25 millimeters and axis Y to 15 millimeters. All axes start, accelerate, decelerate, and stop together. ACC 750 DEC 750 VEL 75 STP 750 X25 Y15 Making Motion 97 Parker Hannifin Example 2 Two axes are attached to the same master, and the program moves one axis to an absolute position: axis X to 25 millimeters. As only axis X is commanded to move, axis Y is not included in the motion trajectory calculation. ACC 750 DEC 750 VEL 75 STP 750 X25 98 Programmer’s Guide Parker Hannifin Jog Profiler Each axis has a dedicated Jog Profiler which can, using a set of motion profile values, control absolute, incremental, or continuous motion for that axis. It can do this independently or in conjunction with the other profilers (Cam, Gear, and Coordinated Moves). NOTE: Multiple axes may be commanded in a single jog statement, such as JOG ABS X500 Y100. The motion is not coordinated. For any application, the controller is first configured for coordinated motion. This does not exclude simultaneously using the other motion profilers. The Jog Profiler looks to the Coordinated Moves Profiler for its configuration data (master, slave, and axis attachment statements). For more information about making attachments, see Attachments. The Jog Profiler computes motion based on axis target positions and on the motion profile values (JOG ACC, JOG DEC, JOG JRK, and JOG VEL). The motion profile is scaled by the PPU (pulses per programming unit) for each axis. All axes may start, accelerate, and decelerate at different times. NOTE: The Jog Profiler typically uses the clock as its timebase. NOTE: The ACR controller uses the Jog Profiler for jogging and homing routines. If the acceleration, deceleration, velocity, and jerk values are set for jogging, those values are also used for homing. Therefore, it is a good programming practice to declare the motion profile at the beginning of every jog subroutine. Doing so ensures the correct motion values are used for a jogging or homing routine, regardless how the program branches to a subroutine. NOTE: The Configuration Wizard contains a Jog/Home Commissioning dialog. The dialog only allows the user to test the setup of an axis—it does not produce jogging or homing code. Making Motion 99 Parker Hannifin Example 1 Two axes are set to different acceleration, deceleration, and velocities, and are moved the same distance. JOG JOG JOG JOG ACC DEC VEL INC X1000 Y500 X1000 Y500 X25 Y50 X10 Y10 Figure 4 looks at the commanded motion of the X axis. In the upper graph (velocity motion profile), JOG ACC and JOG DEC determine the acceleration and deceleration values, which always graph as ascending and descending slopes, respectively. JOG VEL always graphs as a horizontal line once the axis is up to speed. The area under the velocity profile graph is the distance traveled. Figure 4 X-Axis Velocity and Position Profiles In the lower graph (position motion profile) of Figure 4, the curve between t0 and t1 shows the change in position during the time it takes for the X axis to accelerate from zero to the target velocity. Likewise, the curve between t2 and t3 shows the change in position during deceleration to zero. (The actual acceleration and deceleration curves shown are approximated due to the resolution of the graph.) The straight line between points P1 and P2 is where the X-axis movement is a constant velocity. 100 Programmer’s Guide Parker Hannifin Figure 5 looks at the movement for the Y axis, characterized by more gradual slopes for acceleration and deceleration values of 500 in the velocity motion profile (as compared to the X-axis’ values of 1000). Figure 5 Y-Axis Velocity and Position Profiles Again, the straight line between points P1 and P2 on the position motion profile is where the Y-axis movement is a constant velocity. Making Motion 101 Parker Hannifin Figure 6 shows the velocity motion profiles for both the X and Y axes superimposed. The Y axis is dashed. Due to a higher JOG VEL value, the Y axis finishes its commanded motion in less time than the X axis. Figure 6 X and Y Velocity Motion Profiles Figure 7 graphs the change in position for the X and Y axes. The Y axis is dashed. The overall slope of the position curve for the Y axis is steeper, reflecting its higher JOG VEL value (JOG VEL X25 Y50). Comparing the first curve after t0 for the axes show that a higher acceleration value presents as a more gradual curve (JOG ACC X1000 Y500). Figure 7 X and Y Position Motion Profiles Example 2 The JOG VEL value is changed while a single axis is in motion (on the fly (OTF)). JOG JOG JOG JOG DWL JOG ACC DEC VEL INC 1.0 VEL X20 X25 X10 X10 X5 102 Programmer’s Guide Parker Hannifin At one second (t 0 + 1.0 sec.), the axis is commanded to decrease speed to the new velocity. See Figure 8 for the velocity profile. Motion ends at t 1. Figure 8 Change in JOG VEL Value “On the Fly” Example 3 To illustrate sequential jog moves, two axes are attached to the same program. The program moves each axis an incremental distance of 10 units using two separate moves. The program waits until the Jog Active Bit (Bit792) is off, indicating that Axis X has finished its move, after which time the Y axis is commanded to move to its incremental position. Figure 9 shows the velocity profile of this example. JOG JOG JOG JOG INH JOG ACC X1000 Y500 DEC X1000 Y500 VEL X25 Y50 INC X10 -792 INC Y10 Figure 9 Velocity Profile of Sequential Jog Moves Making Motion 103 Parker Hannifin JOG VEL Details Figure 10 shows the bit profiles for the Jog Flags (Bits 792 through 796) as a JOG VEL command is executed. Figure 10 JOG VEL Command and Bit Profiles 104 Programmer’s Guide Parker Hannifin JOG Commands See the ACR Command Language Reference for detailed information, including necessary arguments, on JOG (Single Axis Velocity Profile) and its associated commands: • JOG ABS (Jog to Absolute Position)—uses the current jog settings to jog an axis to an absolute jog offset. • JOG ACC (Set Jog Acceleration)—sets the programmed jog acceleration for an axis. • JOG DEC (Set Jog Deceleration)—sets the programmed jog deceleration for an axis. • JOG FWD (Jog Axis Forward)—initiates a ramp to the velocity programmed by the JOG VEL command. • JOG HOME (Go Home)—instructs the controller to search for the home position in the direction and on the axes specified. • JOG HOMVF (Home Final Velocity)—specifies the velocity to use when the homing operation makes the final approach. • JOG INC (Jog an Incremental Distance)—uses the current jog settings to jog an axis an incremental distance from the current jog offset. • JOG JRK (Set Jog Jerk (S-curve))—controls the slope of the acceleration versus time profile. • JOG OFF (Stop Jogging Axis)—initiates a ramp down to zero speed. • JOG REN (Transfer Current Position into Jog Offset)—either clears or preloads the current position of a given axis and adds the difference to the jog offset parameter. • JOG RES (Transfer Jog Offset Into Current Position)—either clears or preloads the jog offset of a given axis and adds the difference to the current position. • JOG REV (Jog Axis Backward)—initiates a ramp in the negative direction to the velocity programmed with the JOG VEL command. • JOG SRC (Set External Timebase)—specifies the timebase for jogging. • JOG VEL (Set Jog Velocity)—sets the programmed jog velocity for an axis. Making Motion 105 Parker Hannifin JOG REN Details The JOG REN command (Transfer Current Position into Jog Offset) clears the Coordinated Moves Profiler of a given axis and adds the difference to the Jog Profiler offset (example: JOG REN X). It can also be used to preload a position into the Coordinated Moves Profiler (adjusting the Jog Profiler to make up the difference) (example: JOG REN X2). In either case, the Gear and Cam profilers and the Primary and Secondary setpoints do not change. The drawing in Figure 11 illustrates JOG REN as it clears the Coordinated Moves Profiler. Figure 11 JOG REN Clears Coordinated Moves Profiler (JOG REN X) 106 Programmer’s Guide Parker Hannifin The drawing in Figure 12 illustrates JOG REN as it preloads the Coordinated Moves Profiler. Figure 12 JOG REN Preloads the Coordinated Moves Profiler (JOG REN X2) Making Motion 107 Parker Hannifin JOG RES Details The JOG RES command (Transfer Jog Offset Into Current Position) clears the Jog Profiler offset of a given axis, and adds the difference to the Coordinated Moves Profiler (example: JOG RES X). It can also preload the Jog Profiler offset, and, again, adjusts the Coordinated Moves Profiler to make up the difference (example: JOG RES X2). In either case, the Gear and Cam profilers and the Primary and Secondary setpoints do not change. The drawing in Figure 13 illustrates JOG RES as it clears the Jog Profiler. Figure 13 JOG RES Clears Jog Profiler (JOG RES X) 108 Programmer’s Guide Parker Hannifin The drawing in Figure 14 illustrates JOG RES as it preloads the Jog Profiler. Figure 14 JOG RES Preloads the Jog Profiler (JOG RES X2) Gear Profiler The Gear Profiler controls motion for axes needing to match their motion output to some form of input (see SRC command—Set External Timebase—for available sources). The input source is usually external, such as an electronic gearbox, trackball, follower axis, or changes of ratio related to position. NOTE: The Gear Profiler typically uses a source other than the clock as its timebase. • GEAR RES (Reset or Preload Gearing Output)—this command either clears or preloads the gear offset for the given axis. Making Motion 109 Parker Hannifin Cam Profiler The Cam Profiler controls motion for axes needing precise motion. It uses an array of target points in relation to an externally sourced timebase (see SRC command—Set External Timebase—for available sources). By breaking the motion into discrete target points, the cam arrives at the exact point needed. The Cam Profiler provides linear interpolation between points, regardless of how many points are necessary for the move. All changes in motion are real time. The Cam Profiler does not compile motion. NOTE: The Cam Profiler typically uses a source other than the clock as its timebase. • CAM RES (Transfer Cam Offset)—this command either clears or preloads the cam offset of a given axis and adds the difference to the current position. It also clears out any cam shift that may have been built up by an incremental cam. Homing The homing operation is a sequence of moves that position an axis using the Home Limit inputs. The goal of the homing operation is to return the load to a repeatable starting location. When the homing operation successfully completes, the controller sets the absolute position register to zero, establishing a zero reference position. For servo axes using analog feedback, the controller sets the voltage register to zero. The Jog Profiler controls homing operations. If the acceleration, deceleration, velocity, and jerk values are set for jogging, those values are also used for homing. NOTE: It is a good programming practice to declare the motion profile at the beginning of every jog subroutine. Doing so ensures the correct motion values are used for a jogging or homing routine, regardless how the program branches to a subroutine. NOTE: A homing routine cannot be started for an axis that is already in motion. 110 Programmer’s Guide Parker Hannifin NOTE: Relevance of positive and negative direction— NOTE: If an end-of-travel limit is encountered during the homing operation, motion is reversed and the home switch is sought in the opposite direction. If a second limit is encountered, the homing operation is terminated, stopping motion at the second limit. NOTE: For homing operations, always use the clock as the source of the Jog Profiler. The controller uses the following guidelines for all backup-enabled profiles: • Search for the selected edge at the velocity set with the JOG VEL command (Set Jog Velocity). • Use the direction given in the JOG HOME command (Go Home). If the home input is already active, start toward the selected edge. On finding the selected edge, decelerate. • Return to the selected edge at the velocity set with the JOG HOMVF command (Home Final Velocity). If the returning direction is the same as the selected final direction, the profile is complete. Otherwise, find the edge again in the selected final direction (using the velocity set with the JOG HOMVF command). Example The homing routine sets the conditions for homing; a motion profile, the inputs related to homing, and homing velocity. In addition, specific bit conditions are set out. The JOG HOME command then starts the homing process. The WHILE/WEND statement (Loop Execution Conditional) causes the program to wait until the homing conditions it contains are met. In the first AND statement, axis 0 cannot have found home and cannot have failed to find home. The second AND statement does the same for axis 1. Once conditions are met, the code within the WHILE/WEND statement is executed. Finally, the program prints that the Y axis homing is successful, and initiates Z channel homing (MSEEK command—Marker Seek Operation) for axis X. When axis X has successfully completed the Z channel homing, the program prints that X axis homing is successful. Making Motion 111 Parker Hannifin JOG VEL X10 Y10 : REM Set axes jog parameters used during homing JOG ACC X100 Y100 JOG DEC X100 Y100 HLBIT X0 Y3 : REM X uses 1Home (input2), Y uses 2Home (input5) HLIM X3 Y3 : REM enable EOT limit checking for box axes JOG SET SET CLR CLR CLR HOMVF 16144 16176 16152 16153 16154 X0.1 Y0.1 SET 16145 SET 16177 CLR 16184 CLR 16185 CLR 16186 : : : : : : REM REM REM REM REM REM Set backup to home velocity Invert axis0 level of limit inputs Invert axis1 level of limit inputs Disable backup to home Look for positive edge of sensor Final homing direction will be positive JOG HOME X-1 Y1 : REM start homing x negative, y positive REM The WHILE/WEND statement uses Boolean logic to define homing REM conditions. Bits 16134 and 16166 are the Found Home bits for axes WHILE (((NOT BIT 16134) AND (NOT BIT 16135)) OR ((NOT BIT 16166) AND (NOT BIT 16167))) WEND IF (BIT 16166) THEN PRINT "Y HOMING SUCCESSFUL“ IF (BIT 16134) MSEEK X(1,0) INH –516 IF (BIT 777) PRINT "X HOMING SUCCESSFUL“ ENDIF ENDIF ENDP Homing Subroutines Typically, the homing code is a subroutine in a program. The Jog commands define the motion (JOG ACC, JOG DEC, JOG HOME, JOG HOMVF, JOG JRK, and JOG VEL), and three bits in the Quinary Axis Flags (Bit16128-Bit16639) control other aspects of a homing routine. • Home Backup Enable (bit index 24). • Home Negative Edge Select (bit index 25). • Home Final Direction (bit index 26). The JOG HOME command simultaneously homes multiple axes. The arguments axis direction allow the user to specify an axis and the direction in which it seeks the homing region. For example JOG HOME X1 Y-1 homes the X axis in the positive direction, and the Y axis in the negative direction. The following diagrams illustrate the combinations and interactions of the three homing bits (above) and the JOG HOME command. Basic Homing (Homing Backup Disabled) When the Home Backup Enable bit (Bit 24) is clear, the controller ignores the Home Negative Edge Select bit (Bit 25) and Home Negative Final Direction bit (Bit 26). Consequently, when the controller finds any homing edge (positive or negative), the move decelerates. The controller does not attempt to back up to the found edge. 112 Programmer’s Guide Parker Hannifin Figures A and B show the homing operation when the Home Backup Enable, Home Negative Edge Select, and Home Negative Final Direction bits are clear (Quinary Axis Flags, Bit16128-Bit16639). Figure A Homing Profile Attributes: • JOG HOME X1 • Home Backup Enable (bit index 24) is clear. • Home Negative Edge Select (bit index 25) is clear. • Home Negative Final Direction (bit index 26) is clear. Figure B Homing Profile Attributes: • JOG HOME X-1 • Home Backup Enable (bit index 24) is clear. • Home Negative Edge Select (bit index 25) is clear. • Home Negative Final Direction (bit index 26) is clear. Making Motion 113 Parker Hannifin Positive Homing (Homing Backup Enabled) Figures C through F show the homing operation when the Home Backup Enable bit is set (parameters 4600-4615). The seven steps below describe a sample homing operation, as illustrated in Figure C. Figures D through F show the homing operation for different values of the Home Negative Edge Select and Home Negative Final Direction bits—the Home Backup Enable bit is set. 1. A positive home move is started with the JOG HOME X1 command at the JOG ACC and JOG JRK accelerations. Default JOG ACC is 10 revs (or volts or inches) per sec 2 . 2. The JOGVEL velocity is reached (move continues at that velocity until home input goes active). 3. The negative edge of the home input is ignored and the move continues until the positive edge is detected. At this time the move is decelerated at the JOG DEC and JOG JRK command values. 4. After stopping, the direction is reversed and a second move with a peak velocity specified by the JOG HOMVF value is started. 5. This move continues until the positive edge of the home input is reached. 6. Upon reaching the positive edge, the move is decelerated at the JOG DEC and JOG JRK command values, the direction is reversed, and another move is started in the positive direction at the JOG HOMVF velocity. 7. As soon as the home input positive edge is reached, this last move is immediately terminated. The load is at home and the absolute position register is reset to zero. Figure C Homing Profile Attributes: • 114 Programmer’s Guide JOG HOME X1 • Home Backup Enable (bit index 24) is set. • Home Negative Edge Select (bit index 25) is clear. • Home Negative Final Direction (bit index 26) is clear. Parker Hannifin Figure D Homing Profile Attributes: • JOG HOME X1 • Home Backup Enable (bit index 24) is set. • Home Negative Edge Select (bit index 25) is set. • Home Negative Final Direction (bit index 26) is clear. Figure E Homing Profile Attributes: • Figure F JOG HOME X1 • Home Backup Enable (bit index 24) is set. • Home Negative Edge Select (bit index 25) is clear. • Home Negative Final Direction (bit index 26) is set. Homing Profile Attributes: • JOG HOME X1 • Home Backup Enable (bit index 24) is set. • Home Negative Edge Select (bit index 25) is set. • Home Negative Final Direction (bit index 26) is set. Making Motion 115 Parker Hannifin Negative Homing (Homing Backup Enabled) Figures G through J show the homing operation for different values of the Home Negative Edge Select and Home Negative Final Direction bits—the Home Backup Enable bit is set. Figure G Homing Profile Attributes: • Figure H • Home Backup Enable (bit index 24) is set. • Home Negative Edge Select (bit index 25) is set. • Home Negative Final Direction (bit index 26) is set. Homing Profile Attributes: • 116 Programmer’s Guide JOG HOME X-1 JOG HOME X-1 • Home Backup Enable (bit index 24) is set. • Home Negative Edge Select (bit index 25) is clear. • Home Negative Final Direction (bit index 26) is set. Parker Hannifin Figure I Homing Profile Attributes: • JOG HOME X-1 • Home Backup Enable (bit index 24) is set. • Home Negative Edge Select (bit index 25) is set. • Home Negative Final Direction (bit index 26) is clear. Figure J Homing Profile Attributes: • JOG HOME X-1 • Home Backup Enable (bit index 24) is set. • Home Negative Edge Select (bit index 25) is clear. • Home Negative Final Direction (bit index 26) is clear. Making Motion 117 Parker Hannifin Limit Detection The Configuration Wizard assists with setting up the Hardware and Software Limits Detection. When limits are enabled, motion stops when the load encounters a limit. If the load hits a hardware limit, motion stops at the rate set by the HLDEC; if the load hits a software limit, motion stops at the rate set by the SLDEC. Dedicated I/O for Homing For each axis, the user can assign which inputs are used for positive and negative hardware limits, and the input used for homing. The inputs can be assigned or changed using the HLBIT command (no corresponding parameter exists). Use the HLBIT command to set the input for the positive hardware limit, and the controller sets the next two contiguous inputs for the negative hardware limit and homing. For example, to assign input three as the positive hardware limit for axis Y, send the command HLBIT Y3; as a result, input 3 becomes the positive hardware limit, input 4 becomes the negative hardware limit, and input 5 becomes the homing input. 118 Programmer’s Guide Parker Hannifin NOTE: There are no restrictions regarding how to assign hardware limits and homing inputs. However, you should exercise caution because it is possible to create imaginary limit and home inputs. This is because the controller assumes all three inputs are in the same multiple of 32 bits. The assignment of inputs does not roll over to the next block of 32 bits. For example, if the positive hardware limit is assigned to input 31, the negative hardware limit and homing inputs are not assigned. Instead, they become imaginary inputs with a value of zero. Making Motion 119 Parker Hannifin Servo Loop Fundamentals Each of the profilers contains a register with a value of the current offset. These values are added together and the summation is called the Primary Setpoint (PSP). PSP = Coordinated Moves + Jog + Gear + Cam See Figure 15 for a diagram of the Primary Setpoint summation. Figure 15 Primary Setpoint Summation Setpoint Compensation There are two mechanical characteristics that the controller takes into consideration and compensates for: hysteresis losses and nonlinear position error, which are processed by the Backlash Generator and Ballscrew Profiler, respectively. • Backlash Generator: Used to compensate for error introduced by hysteresis in mechanical gearboxes. Backlash is used in the Secondary Setpoint summation if the Primary Setpoint value is positive. (Use the BKL command—Set Backlash Compensation—to set the compensation, or, without an argument, to display the current setting for an axis.) • Ballscrew Profiler: Used to compensate for non-linear position error introduced by mechanical ballscrews and gearboxes. (Use the BSC command—Ballscrew Compensation— to initialize and control ballscrew compensation for an axis.) The values of the Backlash Generator and Ballscrew Profiler are added to the Primary Setpoint, and this summation is called the Secondary Setpoint (SSP). SSP = PSP + Backlash + Ballscrew 120 Programmer’s Guide Parker Hannifin The information up to and including the SSP is the commanded position. See Figure 16. Figure 16 Secondary Setpoint Summation Viewing the Setpoint Calculations Servo loop calculations for the actual position of an axis can be observed in ACR-View. The Servo Loop Status window shows the motion offsets, primary and secondary setpoints, servo gains and other values, and how they result in the final position output. ► In the Project Workspace, click Status Panel, then click Servo Loop Status. Following Error The Secondary Setpoint is compared with the value of the Actual Position received from a feedback device. See Figure 17. The difference between the Secondary Setpoint and Actual Position is called the Following Error: Following Error = SSP - ACT POS The controller makes adjustments to the motor position through a constant cycle of comparison and correction. Following Error is used by the PID loop (servo control algorithm) to keep the Actual Position equal (or approaching equal to) the Secondary Setpoint. Servo Loop Fundamentals 121 Parker Hannifin Figure 17 Following Error 122 Programmer’s Guide Parker Hannifin Binary Host Interface You can enhance communications with the ACR series controller through the binary host interface. Binary Data Transfer The binary data transfers in this chapter consist of a control character ( Header ID ) followed by a stream of data encoded according to the current state of the MODE command. Note that regardless of the mode, the Header ID is never converted during binary data transfer. During binary transfers to the card, the delay between bytes must be no more than the communications timeout setting for the given channel. If the timeout activates, the transfer is thrown out and the channel goes back to waiting for a normal character or a binary header ID. The default communication timeout is 50 milliseconds. The following is a list of valid data conversion modes. The default mode for the FIFO channel is zero and the default for the COM1 and COM2 channels is one. Note that high bit stripping cannot be done without also activating the control character-prefixing mode. Mode Description MODE 0 No Conversion MODE 1 Control Character Prefixing MODE 2 No Conversion MODE 3 Control Character Prefixing and High Bit Stripping Control Character Prefixing Control character prefixing follows Kermit communications protocol conventions. The escape code for control character prefixing is the '#' character. The control character-prefixing mode prevents valid data within a binary packet from being confused with the serial XON / XOFF flow control codes. Transmitting If the character to be sent is either a 0x7F or a character in the range of 0x00 to 0x1F, the character is 'XORed' with 0x40 and proceeded with a '#' character. Otherwise, the byte is sent normally. For example, if the character to be sent is 0x01, the character is transmitted as a "#A" string. ( 0x01 XOR 0x40 = 0x41 = 'A' ) The special case where the character to be sent is the '#' character is handled with the two character "##" string. Binary Host Interface 123 Parker Hannifin Receiving When receiving control prefix encoded data, a '#' character is thrown away and causes the next character to be read from the data stream. If the character is in the range of 0x3F to 0x5F, the character is 'XORed' with 0x40 to decode the true value. Otherwise, the character is used exactly as read from the stream. High Bit Stripping High bit stripping follows Kermit communications protocol conventions for 7-bit data paths. The escape code for high bit stripping is the '&' character and must be used in conjunction with the control character prefixing described above. High bit stripping is for cases in which a 7-bit data path must be used for binary data transfer. This mode introduces a large overhead in the transfer of binary data since over half of the bytes are expanded to two byte sequences and several are expanded to three bytes. If possible, an 8-bit data path should be used for binary data transfer. Transmitting If the character to be sent is greater than 0x7F, the character is 'ANDed' with 0x7F and proceeded with the '&' character. Note that the AND may result in a control code which must then handled by control character prefixing. The original character may also need to be sent with control character prefixing. For example, if the character to be sent is 0xC2, the character is transmitted as a "&B" string. ( 0xC2 AND 0x7F = 0x42 = 'B' ) As another example, if character to be sent is 0x83, the character is transmitted as the three character "&#C" string. ( 0x83 AND 0x7F = 0x03 (control character) ) The special case where the character to be sent is the '&' character is handled with the two character "#&" string. Receiving When receiving high bit encoded data, '#' characters are handled as normal control character prefix sequences. If the received character is neither a '#' nor a '&' character, the character is used exactly as read from the stream. If the received character is the '&' character, it is thrown away and causes the next character to be read from the data stream. This new character may be a '#' character, which will initiate control prefix decoding sequence. The result is a value in the range of 0x00 to 0x7F, which is then 'ORed' with 0x80 to re-establish the high bit in the data. 124 Programmer’s Guide Parker Hannifin Binary Data Packets Packets allow binary access to system parameters at any time. This method must be used if commands are sitting in the input queue since PRINT statements would also be buffered. The packet is the quickest way to access information such as current position and following error for display in an application program. Packet Request Packets are requested by sending a four-byte binary request record. The following is a list of the bytes contained in this record: Data Field Description Byte 0 Header ID ( 0x00 ) Byte 1 Group Code Byte 2 Group Index Byte 3 Isolation Mask Group Code and Index The group code and group index work as a pair to select the data coming back in a data packet. The group code selects a general data grouping and the group index selects a set of eight fields within that group. The isolation mask then selects which of these eight fields is to compose the final data packet. Isolation Mask The isolation mask acts as a filter to select only the specific data required (for example, actual position for AXIS 2, AXIS 3 and AXIS 5.) If a bit is set in this mask, the corresponding data field is allowed to return in the data packet. In order to return all eight fields, the isolation mask must be 0xFF. Mask Bit0 is used to isolate the first field in a group and Bit7 is used to isolate the last field. Binary Host Interface 125 Parker Hannifin Parameter Access The following is a list of groups and what the isolation mask will isolate: Group Description Isolation Usage 0x10 Flag Parameters Eight consecutive parameters 0x18 Encoder Parameters ENC0-ENC15 0x19 DAC parameters DAC0-DAC7 0x1A PLC parameters PLC0–PLC7 0x1B Miscellaneous Eight consecutive parameters 0x1C Program Parameters PROG0 - PROG15 0x20 Master Parameters MASTER0 - MASTER7 0x28 Master Parameters MASTER8 - MASTER15 0x30 Axis Parameters AXIS0 - AXIS7 0x38 Axis Parameters AXIS8 - AXIS15 0x40 CMT Parameters CMT0 - CMT7 0x50 Logging Parameters Eight consecutive parameters 0x60 Encoder Parameters ENC16 - ENC23 Packet Retrieval Packet Header After a packet request is received, the ACR2000/ACR8000/ACR8010 responds by sending back a four-byte packet header. This header is a direct echo of the request record. The echoing allows host software to do asynchronous sampling. A request can be sent by one part of the program and packet retrieval can be done by a centralized receiver. This routine would recognize the 0x00 in the header as an incoming packet and act accordingly. In a synchronous retrieval mode, it is possible for extra data to be in front of an incoming packet header. This would occur if there is any ASCII data pending at the time of the request, such as during a LIST. In order to retrieve a packet correctly, the host software must be able to process this data while waiting for the packet header to arrive. This should not be a problem, however, if all system echoing is turned off and no ASCII data retrieval is being done. Packet Data After the packet header is received, the data arrives as a set of four byte fields. The bits in the isolation mask determine the number of fields and what they apply to. If the mask is 0xFF, a total of eight fields (32 bytes) would follow. The first field to be returned corresponds to the bit position of the lowest bit in the mask that is set. 126 Programmer’s Guide Parker Hannifin Long integers (LONG) are returned as a four-byte field. Floating point numbers (FP32) are returned in 32-bit IEEE floating-point format. Both types of field are returned with the low order byte first. Usage Example This example requests actual positions from axis 2, 3 and 5: Fields: Header Output: 00 30 02 2C Input: 00 30 02 2C Axis2 Axis3 Axis5 20 21 22 23 30 31 32 33 50 51 52 53 Actual Positions: AXIS2: 0x23222120 AXIS3: 0x33323130 AXIS5: 0x53525150 Binary Parameter Access Binary parameter access provides a method of reading from and writing to single system parameters on the card. Unlike binary data packets, binary parameter access uses the index of the parameter directly from Appendix A. There are no groups or masks. A parameter access header consists of a Header ID ( 0x00 ) followed by a Packet ID code and a 2-byte parameter index. The Packet ID codes for the different types of packets are shown below. The following pages define each of the packets in detail. Packet ID Codes Code Packet Type Description 0x88 Binary Get Long Receive long integer from card 0x89 Binary Set Long Send long integer to card 0x8A Binary Get IEEE Receive IEEE value from card 0x8B Binary Set IEEE Send IEEE value to card Binary Host Interface 127 Parker Hannifin Usage Example This example requests current position from axis 0 parameter P12288: Fields: Header Parameter Value Output: 00 88 00 30 Input: 00 88 00 30 10 11 12 00 Current Position Parameter Value: AXIS0: 0x00121110 Binary Get Long This packet gets a single parameter from the card. The parameter index is a 2-byte value sent low-order byte first. The parameter value in the receive packet is a 4-byte long integer received low-order byte first. Transmit Packet Data Field Data Type Description Byte 0 BYTE Header ID ( 0x00 ) Byte 1 BYTE Packet ID ( 0x88 ) Byte 2-3 WORD Parameter Index Receive Packet Data Field Data Type Description Byte 0 BYTE Header ID ( 0x00 ) Byte 1 BYTE Packet ID ( 0x88 ) Byte 2-3 WORD Parameter Index Byte 4-7 LONG Parameter Value Binary Set Long This packet sets a single parameter on the card. The parameter index is a 2-byte value sent low-order byte first. The parameter value is a 4-byte long integer and is sent low order byte first. Transmit Packet Data Field Data Type Description Byte 0 BYTE Header ID ( 0x00 ) Byte 1 BYTE Packet ID ( 0x89 ) Byte 2-3 WORD Parameter Index Byte 4-7 LONG Parameter Value 128 Programmer’s Guide Parker Hannifin Receive Packet None. Binary Get IEEE This packet gets a single parameter from the card. The parameter index is a 2-byte value sent low-order byte first. The parameter value in the receive packet is a 4-byte image of an IEEE floating point number received low-order byte first. Transmit Packet Data Field Data Type Description Byte 0 BYTE Header ID ( 0x00 ) Byte 1 BYTE Packet ID ( 0x8A ) Byte 2-3 WORD Parameter Index Receive Packet Data Field Data Type Description Byte 0 BYTE Header ID ( 0x00 ) Byte 1 BYTE Packet ID ( 0x8A ) Byte 2-3 WORD Parameter Index Byte 4-7 IEEE32 Parameter Value Binary Set IEEE This packet sets a single parameter on the card. The parameter index is a 2-byte value sent low-order byte first. The parameter value is a 4-byte image of an IEEE floating point number and is sent loworder byte first. Transmit Packet Data Field Data Type Description Byte 0 BYTE Header ID ( 0x00 ) Byte 1 BYTE Packet ID ( 0x8B ) Byte 2-3 WORD Parameter Index Byte 4-7 IEEE32 Parameter Value Receive Packet None. Binary Host Interface 129 Parker Hannifin Binary Peek Command A binary peek command consists of a four-byte header followed by an address and the data to be fetched from that address. The header contains a data conversion code that controls pointer incrementing and theFP32 -> IEEE floating point conversion. Note: Refer to Binary Global Parameter Access Note at end of Binary Host Interface section for details. The command returns the header and peek address followed by the requested data. Binary Peek Packet Transmit Packet Data Field Description Byte 0 Header ID ( 0x00 ) Byte 1 Packet ID ( 0x90 ) Byte 2 Conversion Code Byte 3 Peek Word Count Long 0 Peek Address Receive Packet Data Field Description Byte 0 Header ID ( 0x00 ) Byte 1 Packet ID ( 0x90 ) Byte 2 Conversion Code Byte 3 Peek Word Count Long 0 Peek Address Long 1 Peek Data 0 Long 2 Peek Data 1 : Long N Peek Data ( Count - 1 ) Conversion Codes Code Source Destination 0x00 LONG LONG 0x01 FP64 IEEE32 0x02 FP32 IEEE32 130 Programmer’s Guide Parker Hannifin Usage Example NOTE: Addresses shown are for example only. Addresses will vary from card to card, depending on system memory allocation. This example peeks at three words, starting at peek address 0x404500: Fields: Header Address Output: 00 90 00 03 00 50 40 00 Input: 00 90 00 03 00 50 40 00 Data0 Data1 Data2 10 11 12 13 20 21 22 23 30 31 32 33 Requested data at address: 0x405000: 0x13121110 0x405001: 0x23222120 0x405002: 0x33323130 Binary Poke Command A binary poke command consists of a four-byte header followed by an address and the data to be stored at that address. There is no information returned from this command. The header contains a data conversion code that controls pointer incrementing and the IEEE ->FP32 floating point conversion. NOTE: Refer to Binary Global Parameter Access Note at end of Binary Host Interface section for details. Binary Poke Packet Transmit Packet Data Field Description Byte 0 Header ID ( 0x00 ) Byte 1 Packet ID ( 0x91 ) Byte 2 Conversion Code Byte 3 Poke Word Count Long 0 Poke Address Long 1 Poke Data 0 Long 2 Poke Data 1 : Long N Poke Data ( Count - 1 ) Binary Host Interface 131 Parker Hannifin Receive Packet None. Conversion Codes Code Source Destination 0x00 LONG LONG 0x01 IEEE32 FP64 0x02 IEEE32 FP32 Usage Example NOTE: Addresses shown are for example only. Addresses will vary from card to card, depending on system memory allocation. This example pokes data into three words, starting at poke address 0x405000: Fields: Header Address Data0 Data1 Data2 Output: 00 91 00 03 00 50 40 00 10 11 12 13 20 21 22 23 30 31 32 33 Data poked into addresses: 0x405000: 0x13121110 0x405001: 0x23222120 0x405002: 0x33323130 Binary Address Command A binary address command consists of a four-byte header containing a program number and a parameter code. The command returns the header followed by the base address of the parameter type in question. If the returned address is zero, no parameters of that type have been allocated in the given program. Peeking at the returned address will return the number of variables dimensioned for the requested type. In the case of numeric variables, (DV,SV,LV) the count will be followed by the actual numeric data. For arrays, (DA, SA, LA) the count will be followed by the addresses of the individual arrays. These addresses point to storage areas as if they were normal numeric variables of the same type (count followed by data.) 132 Programmer’s Guide Parker Hannifin Binary Address Packet Transmit Packet Data Field Description Byte 0 Header ID ( 0x00 ) Byte 1 Packet ID ( 0x92 ) Byte 2 Program Number Byte 3 Parameter Code Receive Packet Data Field Description Byte 0 Header ID ( 0x00 ) Byte 1 Packet ID ( 0x92 ) Byte 2 Program Number Byte 3 Parameter Code Long 0 Parameter Address Parameter Codes Code Mnemonic Description 0x00 DV Double Variables 0x01 DA Double Arrays 0x02 SV Single Variables 0x03 SA Single Arrays 0x04 LV Long Variables 0x05 LA Long Arrays 0x06 $V String Variables 0x07 $A String Arrays Usage Example NOTE: Addresses shown are for example only. Addresses will vary from card to card, depending on system memory allocation. This example requests the starting address of the Single Variable information for Program 5: Fields: Header Output: 00 92 05 02 Input: 00 92 05 02 Parameter Address 00 80 40 00 Starting address of the Single Variable information for Program 5: Address: 0x408000 Binary Host Interface 133 Parker Hannifin Binary Parameter Address Command A binary parameter address command consists of a four-byte header containing a parameter index. The command returns the header followed by the address of the parameter. If the returned address is zero, the parameter index was invalid. Binary Address Packet Transmit Packet Data Field Data Type Description Byte 0 BYTE Header ID ( 0x00 ) Byte 1 BYTE Packet ID ( 0x93 ) Byte 2-3 WORD Parameter Index Receive Packet Data Field Data Type Description Byte 0 BYTE Header ID ( 0x00 ) Byte 1 BYTE Packet ID ( 0x93 ) Byte 2-3 WORD Parameter Index Long 0 LONG Parameter Address Usage Example NOTE: Addresses shown are for example only. Addresses will vary from card to card, depending on system memory allocation. This example requests the address of the axis 0 current position parameter: Fields: Header Output: 00 93 00 30 Input: 00 93 00 30 Parameter Address 31 50 40 00 Current Position Parameter Address: AXIS0: 134 Programmer’s Guide 0x405031 Parker Hannifin Binary Mask Command A binary mask command consists of a four-byte header followed by an address and two bit masks to be combined with the data at that address. There is no information returned from this command. The address must point to a long integer storage area. The NAND mask is used to clear bits and the OR mask is used to set bits. The data is modified as follows: data = ( data AND NOT nandmask ) OR ormask Binary Mask Packet Transmit Packet Data Field Data Type Description Byte 0 BYTE Header ID ( 0x00 ) Byte 1 BYTE Packet ID ( 0x94 ) Byte 2 BYTE Reserved ( 0x00 ) Byte 3 BYTE Reserved ( 0x00 ) Long 0 BYTE Data Address Long 1 BYTE NAND Mask Long 2 BYTE OR Mask Receive Packet None. Usage Example NOTE: Addresses shown are for example only. Addresses will vary from card to card, depending on system memory allocation. This example uses the Binary Mask Command to clear all of the Opto-isolated Outputs and then set Output 32. The data address for Opto-isolated Outputs Parameter P4097 is assumed to have been previously returned using the Binary Parameter Address Command on the previous page. Fields: Header Parameter Address NAND Mask OR Mask Output: 00 94 00 00 43 60 40 00 FF FF FF FF 01 00 00 00 Opto-isolated Output Parameter P4097 Modified Data at address: 0x406043: 0x00000001 Binary Host Interface 135 Parker Hannifin Binary Parameter Mask Command A binary parameter mask command consists of a four-byte header followed by two bit masks to be combined with a system parameter. There is no information returned from this command. The parameter index in the header must be a long integer. The NAND mask is used to clear bits and the OR mask is used to set bits. The data is modified as follows: data = ( data AND NOT nandmask ) OR ormask Binary Mask Packet Transmit Packet Data Field Data Type Description Byte 0 BYTE Header ID ( 0x00 ) Byte 1 BYTE Packet ID ( 0x95 ) Byte 2-3 WORD Parameter Index Long 0 LONG NAND Mask Long 1 LONG OR Mask Receive Packet None. Usage Example This example uses the Binary Parameter Mask Command to clear all of the Opto-isolated Outputs and then set Output 32. Fields: Header NAND Mask OR Mask Output: 00 95 01 10 FF FF FF FF 01 00 00 00 Opto-isolated Output Parameter P4097 Modified Data: P4097: 136 Programmer’s Guide 0x00000001 Parker Hannifin Binary Move Command A binary move consists of a variable length header followed by a number of four-byte data fields. The bit-mapped information in the header determines the number of data fields and their content. All data fields are sent low order byte first. Binary Move Packet Data Field Data Type Description Head 00 BYTE Header ID (0x04) Head 01 BYTE Header Code 0 Head 02 BYTE Header Code 1 Head 03 BYTE Header Code 2 Head 04 BYTE Header Code 3 Head 05 BYTE Header Code 4 Head 06 BYTE Header Code 5 Head 07 BYTE Header Code 6 Head 08 BYTE Header Code 7 Data 00 IEEE32 Master VEL Data 01 IEEE32 Master FVEL Data 02 IEEE32 Master ACC/DEC Data 03 LONG* Slave 0 Target or NURB/Spline control point Data 04 LONG* Slave 1 Target or NURB/Spline control point Data 05 LONG* Slave 2 Target or NURB/Spline control point Data 06 LONG* Slave 3 Target or NURB/Spline control point Data 07 LONG* Slave 4 Target or NURB/Spline control point Data 08 LONG* Slave 5 Target or NURB/Spline control point Data 09 LONG* Slave 6 Target or NURB/Spline control point Data 10 LONG* Slave 7 Target or NURB/Spline control point Data 11 LONG* Slave 8 Target or NURB/Spline control point Data 12 LONG* Slave 9 Target or NURB/Spline control point Data 13 LONG* Slave 10 Target or NURB/Spline control Data 14 LONG* Slave 11 Target or NURB/Spline control point point Data 15 LONG* Slave 12 Target or NURB/Spline control Data 16 LONG* Slave 13 Target or NURB/Spline control Data 17 LONG* Slave 14 Target or NURB/Spline control Data 18 LONG* Slave 15 Target or NURB/Spline control Data 19 LONG* Primary Center Data 20 LONG* Secondary Center Data 21 IEEE32 Primary Scaling or NURB/Spline Knot Data 22 IEEE32 Secondary Scaling or NURB Weight point point point point * These fields are in IEEE32 format if bit 2 of header code 3 is set Binary Host Interface 137 Parker Hannifin There are two versions defined for Header Code 0 based on Secondary Master Flag Bit Index 5, Enable Rapid Move Modes. The default-disabled mode for this flag (Secondary Master Flag Bit Index 5 cleared) uses the following Header Code 0 definition. This Header Code 0 definition is compatible with ACR2000/ACR8000 Firmware Versions 1.17.04 and below, and is compatible with all AcroCut/AcroMill software versions. Header Code 0 Enable Rapid Move Modes flag disabled—default cleared value: Data Field Data Type Description Bit 0 FVEL Lockout Forces FVEL to zero for this move Bit 1 FOV Lockout Forces FOV to 1.0 for this move Bit 2 STP Ramp Activate Sets STP equal to DEC, else STP 0 Bit 3 Code 3 Present Header contains "Header Code 3" Bit 4 Velocity Data Present Packet contains master VEL Acceleration Data Packet contains master ACC/DEC Bit 5 Present Bit 6 Counter Dir Count down if set, else up Bit 7 Counter Mode Master move counter enable The enabled mode for this flag (Secondary Master Flag Bit Index 5 Set) uses the following Header Code 0 definition. This Header Code 0 definition is compatible with ACR2000/ACR8000/ACR8010 Firmware Versions 1.17.05 and above, and is not compatible with AcroCut/ AcroMill Software Versions 1.15.00 and below. The Move Modes for this header code are defined following the header code definitions. Header Code 0 Enable Rapid Move Modes flag enabled—set value: Data Field Data Type Bit 0 Move Mode Bit 1 Description Selects the move mode for this move along with Header Code 0 Bit 2. Bit 1 FOV/ROV Lockout Forces FOV or ROV to 1.0 for this move Bit 2 Move Mode Bit 0 Selects the move mode for this move along with Header Code Bit 0. Bit 3 Code 3 Present Header contains "Header Code 3" Bit 4 Velocity Data Present Packet contains master VEL Acceleration Data Packet contains master ACC/DEC Bit 5 Present Bit 6 Counter Dir Count down if set, else up Bit 7 Counter Mode Master move counter enable 138 Programmer’s Guide Parker Hannifin Header Code 1 Data Field Data Type Description Bit 0 Master Bit 0 Master for this move packet Bit 1 Master Bit 1 Bit 2 Master Bit 2 Bit 3 Interrupt Select Interrupt host when move starts Bit 4 Arc Direction CCW if set, else CW Bit 5 Arc Mode Packet contains center points or Spline Knot present Bit 6 Arc Plane Bit 0 Primary and secondary axis or NURB Mode Bit 7 Arc Plane Bit 1 For binary arc move commands or SPLINE Mode Header Code 2 Data Field Data Type Description Bit 0 Slave 0 Present Slave target positions to be contained Bit 1 Slave 1 Present Bit 2 Slave 2 Present Bit 3 Slave 3 Present Bit 4 Slave 4 Present Bit 5 Slave 5 Present Bit 6 Slave 6 Present Bit 7 Slave 7 Present in this move packet Header Code 3 Data Field Data Type Description Bit 0 Incremental Target Target positions are incremental Bit 1 Incremental Center Center points are incremental Bit 2 Floating Point Data Targets and centers are IEEE32 Bit 3 Arc Radius Scaling Packet contains radius scaling / NURB/Spline Bit 4 FVEL Data Present Packet contains master FVEL Bit 5 Block Skip Check Sets the master Block Skip Check Bit 6 NURB or Spline Move data packet for NURB or Spline Interpolation Bit 7 Extended Codes Extended codes 4,5,6 and 7 are present. This bit should be set if DBCB is used Binary Host Interface 139 Parker Hannifin Header Code 4 Data Field Data Type Description Bit 0 Reserved Reserved Bit 3 Master Bit 3 Master for this move packet Bit 4 Reserved Reserved Data Field Data Type Description Bit 0 Reserved Reserved Data Field Data Type Description Bit 0 Slave 8 Present Slave target positions to be contained Bit 1 Slave 9 Present Bit 2 Slave 10 Present Bit 3 Slave 11 Present Bit 4 Slave 12 Present Bit 5 Slave 13 Present Bit 6 Slave 14 Present Bit 7 Slave 15 Present Bit 1 Bit 2 Bit 5 Bit 6 Bit 7 Header Code 5 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Header Code 6 140 Programmer’s Guide in this move packet Parker Hannifin Header Code 7 Data Field Data Type Description Bit 0 Reserved Reserved Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 The following Move Modes definition applies to Header Code 0 used with the Master Enable Rapid Move Modes flag set. Move Modes Bits 0 and 2 in Header Code 0 indicate which type of move mode is contained in the binary move packet as follows: Bit 1 (Header Code 0 Bit 0) Bit 0 (Header Code 0 Bit 2) Move Mode 0 0 Move Mode 0 - Feed Continuous 0 1 Move Mode 1 - Feed Cornering 1 0 Move Mode 2 - Feed Stopping 1 1 Move Mode 3 – Rapid Where: 0 = Bit Cleared; 1 = Bit Set Example 1 The following illustrates Move Mode 0—Feed Continuous: Binary Host Interface 141 Parker Hannifin Example 2 The following illustrates Move Mode 1—Feed Cornering: Example 3 The following illustrates Move Mode 2—Feed Stopping: 142 Programmer’s Guide Parker Hannifin Example 4 The following illustrates Move Mode 3—Rapid: Linear Moves The bits in header code 2 indicate which target positions are contained in the binary move packet. If the "incremental target" bit in header code 3 is set, the targets are relative to the current target positions of the slaves; otherwise, the targets are absolute. The "floating point data" bit in header code 3 indicates that the target data is in IEEE floating point format, otherwise they are long integers. Arc Moves When the "arc mode" bit in header code 1 is set, a circular arc is generated using two of the first three slaves attached to a master. Any slaves that are given a target position, but are not part of the circular interpolation, are executed as normal linear moves. This allows for helical interpolation. The "arc plane" bits in header code 1 are combined to generate a number from 0 to 3 that defines the primary and secondary axes for the arc as follows: Arc Plane Primary Axis Secondary Axis 0 Slave 0 Slave 1 1 Slave 1 Slave 2 2 Slave 2 Slave 0 3 Reserved Reserved Binary Host Interface 143 Parker Hannifin The "arc direction" bit in header code 1 indicates the direction of the arc relative to the primary and secondary axes. A counterclockwise arc is defined as an arc from the positive primary axis toward the positive secondary axis. The radius of the arc will be equal to the distance between the arc target position and the given center point. If the arc target position is equal to the target position of the previous move, a 360-degree path will be generated. The target position of the previous move must lie on the defined arc or the axes will jump to that location before the arc begins. If the "incremental center" bit in header code 3 is set, the center points are relative to the current target positions of the slaves, otherwise the center points are absolute. The "floating point data" bit in header code 3 indicates that the given center points are in IEEE floating point format, otherwise they are long integers. NURB or SPLINE Moves When the "NURB or Spline" bit in header code 3 (Bit 6) is set, the move data packet includes NURB or Spline curve data. In addition, bit 5 and 6 in header code 1 will differentiate if the data is NURB or Spline. Bit 5 of header code 1 is set when Spline data includes Knots. The control points for NURB and Spline are sent as DATA3 thru DATA10, similar to the way the normal slave targets are sent. Load the Knot in DATA13 and Weight in DATA14 and set the Bit 3 of code 3. Binary SET and CLR The immediate setting and clearing of bits can be accomplished with a 3-byte binary command sequence. This sequence is a 1-byte command header followed by a two-byte index value. The index value is sent low order byte first. The command is not queued and the set or clear occurs when the command is first seen by the board. Binary SET Data Type Description Byte 0 Header ID ( 0x1C ) Byte 1 Index Byte 0 Byte 2 Index Byte 1 Byte 3 0x00, this byte is for ACR8020 DPCB only. 144 Programmer’s Guide Parker Hannifin Binary CLR Data Type Description Byte 0 Header ID ( 0x1D ) Byte 1 Index Byte 0 Byte 2 Index Byte 1 Byte 3 0x00, this byte is for ACR8020 DPCB only. Usage Example Binary Output Description 1C 08 02 Set bit 520 ( 0x0208 ) 1D 20 00 Clear bit 32 ( 0x0010 ) Binary FOV Command The immediate setting of feedrate override for any or all axes can be accomplished with an 8-byte binary command sequence. This sequence is a 4-byte command header followed by a 4-byte FOV value. The command is not queued and the FOV occurs when the command is first seen by the board. The second byte in the header is a bit mask that determines which masters are affected by the FOV value that follows. The FOV value is an image of an IEEE 32-bit floating-point value, sent low order byte first. For more than eight masters the header bit mask Byte 1 should be set zero, and then the two optional 16 master header bit mask Byte 2 and Byte 3 should be filled accordingly. Binary Format Data Type Description Byte 0 Header ID ( 0x07 ) Byte 1 Header Bit Mask Byte 2 16 Master Header Bit Mask, Part 1 Byte 3 16 Master Header Bit Mask, Part 2 Byte 4 FOV Byte 0 Byte 5 FOV Byte 1 Byte 6 FOV Byte 2 Byte 7 FOV Byte 3 Header Bit Mask Data Type Description Bit 0 Master 0 Affected Binary Host Interface 145 Parker Hannifin Data Type Description Bit 1 Master 1 Affected Bit 2 Master 2 Affected Bit 3 Master 3 Affected Bit 4 Master 4 Affected Bit 5 Master 5 Affected Bit 6 Master 6 Affected Bit 7 Master 7 Affected NOTE: Masters affected by the FOV contained in this command. 16 Master Header Bit Mask, Part 1 Data Type Description Bit 0 Master 0 Affected Bit 1 Master 1 Affected Bit 2 Master 2 Affected Bit 3 Master 3 Affected Bit 4 Master 4 Affected Bit 5 Master 5 Affected Bit 6 Master 6 Affected Bit 7 Master 7 Affected NOTE: Masters affected by the FOV contained in this command. 16 Master Header Bit Mask, Part 2 Data Type Description Bit 8 Master 8 Affected Bit 9 Master 9 Affected Bit 10 Master 10 Affected Bit 11 Master 11 Affected Bit 12 Master 12 Affected Bit 13 Master 13 Affected Bit 14 Master 14 Affected Bit 15 Master 15 Affected NOTE: Masters affected by the FOV contained in this command. 146 Programmer’s Guide Parker Hannifin Usage Example This example uses the following IEEE conversions: 0.500 = 3F000000 0.123 = 3DFBE76D Binary Output Description 07 08 00 00 00 00 00 3F Set Master 3 FOV to 0.5 07 05 00 00 6D E7 FB 3D Set Master 0 and Master 2 FOV to 0.123 Binary ROV Command (Version 1.17.05 & Up) The immediate setting of rapid feedrate override for any or all axes can be accomplished with an 8-byte binary command sequence. This sequence is a 4-byte command header followed by a 4-byte ROV value. The command is not queued and the ROV occurs when the command is first seen by the board. The second byte in the header is a bit mask that determines which masters are affected by the ROV value that follows. The ROV value is an image of an IEEE 32-bit floating-point value, sent low order byte first. For more than eight masters the header bit mask Byte 1 should be set zero, and then the two optional 16 master header bit mask Byte 2 and Byte 3 should be filled accordingly. Binary Format Data Type Description Byte 0 Header ID ( 0x1F ) Byte 1 Header Bit Mask Byte 2 16 Master Header Bit Mask, Part 1 Byte 3 16 Master Header Bit Mask, Part 2 Byte 4 ROV Byte 0 Byte 5 ROV Byte 1 Byte 6 ROV Byte 2 Byte 7 ROV Byte 3 Binary Host Interface 147 Parker Hannifin Header Bit Mask Data Type Description Bit 0 Master 0 Affected Bit 1 Master 1 Affected Bit 2 Master 2 Affected Bit 3 Master 3 Affected Bit 4 Master 4 Affected Bit 5 Master 5 Affected Bit 6 Master 6 Affected Bit 7 Master 7 Affected NOTE: Masters affected by the ROV contained in this command. 16 Master Header Bit Mask, Part 1 Data Type Description Bit 0 Master 0 Affected Bit 1 Master 1 Affected Bit 2 Master 2 Affected Bit 3 Master 3 Affected Bit 4 Master 4 Affected Bit 5 Master 5 Affected Bit 6 Master 6 Affected Bit 7 Master 7 Affected NOTE: Masters affected by the ROV contained in this command. 16 Master Header Bit Mask, Part 2 Data Type Description Bit 8 Master 8 Affected Bit 9 Master 9 Affected Bit 10 Master 10 Affected Bit 11 Master 11 Affected Bit 12 Master 12 Affected Bit 13 Master 13 Affected Bit 14 Master 14 Affected Bit 15 Master 15 Affected NOTE: Masters affected by the ROV contained in this command. 148 Programmer’s Guide Parker Hannifin Usage Example This example uses the following IEEE conversions: 0.500 = 3F000000 0.123 = 3DFBE76D Binary Output Description 07 08 00 00 00 00 00 3F Set Master 3 ROV to 0.5 07 05 00 00 6D E7 FB 3D Set Master 0 and Master 2 ROV to 0.123 Application: Binary Global Parameter Access Also see Binary Peek and Binary Poke commands. Description Global user variables (see Variable Memory Allocation) can be read and set using the Binary Peek and Poke Command interface. NOTE: A maximum word count of 255 can be used when using the Binary Peek and Poke Command interface. System Pointer Address (hardware dependent) Controller System Pointer Address ACR1200 0x400008 ACR1500 0xC08008 ACR2000 0x400008 ACR8000 0x403E08 ACR8010 0x403E08 ACR8020 0x400009 Reading Global Variables Peek at the System Pointer Address (see above information) to receive the Global_Variable_Address. • If the returned address is zero, there are no dimensioned global variables (see the DIM command). • If the returned address is other than zero, peek at this address to receive the number of dimensioned global variables. Read a global variable P(index) using the following addressing scheme for Peek: • Peek address = Global_Variable_Address + 1 + ( index * 2 ) • Where index = 0 to ( no. of dimensioned global variables – 1 ) Binary Host Interface 149 Parker Hannifin Even though global variables are stored on-board as floating point 64 (FP64) numbers, they are returned as IEEE32 numbers (Conversion Code 0x01). Setting Global Variables Peek at the System Pointer Address (see System Pointer Address on previous page) to receive the Global_Variable_Address. • If the returned address is zero, there are no dimensioned global variables (see the DIM command). • If the returned address is other than zero, peek at this address to receive the number of dimensioned global variables. To prevent corruption of user memory, always verify P(index) is within the dimensioned global variable range before performing a POKE command. Set a global variable P(index) using the following addressing scheme for Poke: • Poke address = Global Variable Address + 1 + ( index * 2 ) Where index = 0 to ( number of dimensioned global variables – 1) Even though global variables are sent as IEEE32 numbers, they are stored on-board as floating point 64 (FP64) numbers (Conversion Code 0x01). 150 Programmer’s Guide Parker Hannifin Additional Features CANopen The CANopen feature on ACR series controllers provides standardized network communication and flexible configuration for motion control. Limited Amounts of Nodes and I/O • 4 external I/O nodes • 64 bytes (512 bits) of digital inputs total for 4 nodes • 64 bytes (512 bits) of digital outputs total for 4 nodes • 32 analog inputs total for 4 nodes • 32 analog outputs total for 4 nodes Alternate Mapping of Digital I/O The current version of ACR9000 firmware does not allow flags numbered higher than 8191 to be accessed by the PLC programs. The digital I/O mapping option (P32771) allows the first I/O bits of one or more nodes to appear at the flags that had been used for the XIO boards of other ACR products (P4104-P4111). The value of P32771 is evaluated and implemented each time the network is started (via bit 11265). Values of P32771 less than or equal to zero do not result in any re-mapping, so CANopen digital I/O appears at the original location. Values of 1, 2, or 3 will result in the equal re-mapping of node 0 only, node 0 and 1 only, or all 4 nodes respectively. The meaning of P4104-P4111 is given below for the various values of P32771. XIO Flags Parameters P32771 = 1 P32771 = 2 P32771 >=3 4104 Node0 DI 0-31 Node0 DI 0-31 Node0 DI 0-31 4105 Node0 DO 0-31 Node0 DO 0-31 Node0 DO 0-31 4106 Node0 DI 32-63 Node0 DI 32-63 Node1 DI 0-31 4107 Node0 DO 32-63 Node0 DO 32-63 Node1 DO 0-31 4108 Node0 DI 64-95 Node1 DI 0-31 Node2 DI 0-31 4109 Node0 DO 64-95 Node1 DO 0-31 Node2 DO 0-31 4110 Node0 DI 96-127 Node1 DI 32-63 Node3 DI 0-31 4111 Node0 DO 96-127 Node1 DO 32-63 Node3 DO 0-31 Any digital input or output of any node that appears in this table will not appear in the standard mapping of CANopen digital I/O. In Additional Features 151 Parker Hannifin other words, each I/O bit is controlled by only one flag. In addition, this table represents the maximum amounts of I/O that can appear at XIO flag parameters 4104-4111. For example, if P32771= 1 and Node 0 only has 32 physical inputs and outputs, only flag parameters 4104 and 4105 have meaning. Semi-Automatic Network Configuration The network configuration is as automatic as possible, but the user must adjust some settings. The ACR9000 controller automatically sets other configuration parameters required for CANopen, including the global analog data enable (For more information, see the Parker I/O manual). The table below gives the parameters the user must set, along with their default values. The default values apply on power up if user supplied values have not been saved with the ESAVE command. Each parameter is described in further detail in subsequent paragraphs. Parameter P number Default value Master Node Id P32768 5 Bit Rate (kilobits/second) P32769 125 Number of slave nodes P32770 1 (valid range 0-4) Cyclic Period (milliseconds) P32772 50 Node 0 ID (required if P33024 1 P33040 0 P33056 0 P33072 0 P32770 > 0) Node 1 ID (required if P32770 > 1) Node 2 ID (required if P32770 > 2) Node 3 ID (required if P32770 = 4) Bit Rate and Node Addresses Every node on a CANopen bus must have a unique ID number, and must use the same bit rate. The slave I/O nodes have DIP switches that allow the user to set bit rate and node ID number. ACR9000 will have a default node ID number of 5, but this may be changed by modifying parameter P32768. The user must set a ACR9000 parameter (P32769) to allow the master to know and set its bit rate to match the nodes on the bus. The bit rate may only be set as high as allowed by the bus length and the existing nodes. This will usually be 1 megabit/second. 152 Programmer’s Guide Parker Hannifin For available bit rates and constraints of bus length, see the CiA Draft standard 301, version 4.02, table 2. The default bit rate is 125Kbit/second. Bit rate and master node numbers are saved with the ESAVE command. Transmission Cycle Period ACR9000 uses a periodic cyclic transmission protocol between the master and the nodes for digital and analog outputs, and for analog inputs. Digital inputs transmit to the ACR9000 only when their input state has changed. Each cycle, the master sends a synchronization message to all slave nodes. The slave nodes respond by latching and transmitting back their analog inputs, and by asserting the output states commanded by the master before the synchronization message. The cycle period should be calculated to be as fast as possible, and is dependent on the bit rate, the node types, and the number I/O bits on the nodes. Two factors limit the speed of the transmission cycle. One is the total amount data that needs to be transmitted at the selected bit rate. The other is the processing load of the slowest node on the bus. For the former constraint, the number of bits is divided by the bit rate for the required time. Bits are sent in messages of 125 bits each. Each node has messages for its data, plus one to report health. The ACR9000 also sends a sync message. In the formulas below, digital inputs are ignored, since these will not transmit periodically. Node messages = (node analog inputs +3)/4 + (node digital outputs +63)/64 + (node analog outputs +3)/4 + 1 Total messages = Sum of Node messages +1 Required time (milliseconds) = (Total messages * 125) /bit rate in Kilobits/s This time should be rounded up to the next higher integer number of milliseconds. For example, suppose there are two nodes. One node has 100 digital outputs and 10 each analog inputs and outputs. The second node has 20 digital outputs and 5 each analog inputs and outputs. The first node has nine messages, and the second has six messages. The total is 16 messages. At the 1-megabit rate, 2 milliseconds are required. At the 125K rate, 16 milliseconds are required. (16 * 125)/1000 = 2 (16 * 125)/125 = 16 The second constraint is individual node speed. Parker offers the PIO-337 and PIO-347 fieldbus couplers, and these have been characterized for speed. The time required depends on the coupler and the amount and type of I/O on the coupler. There is a base time required just to respond to the ACR9000’s sync signal, plus additional time per point. The sum represents minimum type required by the node. Using the first node of the example above, and the timing in the table below, the time using a PIO-347 would be 31 milliseconds, and using a PIO-337 would be five milliseconds. Using the second Additional Features 153 Parker Hannifin node of the example above, and the timing in the table below, the time using a PIO-347 would be 12 milliseconds, and using a PIO-337 would be two milliseconds. Node Type Base time (milliseconds) time/digital point (microseconds) time/analog point (microseconds) PIO-347 5 100 270 PIO-337 1 15 40 Health Period and Node Health Node health is a way for the master to periodically (known as the Health Period) ascertain that all nodes are still alive, and to respond appropriately if one goes “off line”. ACR9000 uses the Heart Beating protocol for nodes that support it, and Node Guarding protocol for other nodes. These are standard CANopen features. Compatibility is determined automatically when the network is started. The Health period is set to 10 times the Cycle Period. Starting and Configuring the Network An ACR9000 network master may start and reset the network at any time. When the network is started via bit 11265, the ACR9000 initially places all slave nodes into the “Pre-operational” state. During this state, the ACR9000 interrogates and configures the slaves as required. The slaves are then placed into the “Operational” state, and automatic transfer between the slave’s physical I/O and the ACR9000’s I/O parameters and bits takes place. Before the network may become in the “Operational” state, the master must know how many slave nodes there are, what the node numbers are, and how many and what type of I/O are on each node. In some applications, the external nodes may be powered after ACR9000, and hence not available for configuration on ACR9000’s power up. For this reason, the ACR9000 user is required to explicitly request network start via a control flag. The flag (bit 11265) is used for starting the network. The flag is self-clearing (cleared automatically by ACR9000 when the attempt to start the network has completed). There are also status bits and parameters to indicate the results of starting the network. Examples would be error bits, bit rate, cycle period, node status, etc. A typical application scenario would be as follows. • Perform application initialization, and dwell or otherwise determine that external nodes are powered up. • Write to any required parameters if the values are not yet correct. • Assert bit 11265 requesting I/O network start. 154 Programmer’s Guide Parker Hannifin • Check for success and any other status of interest. For example, application operation may depend on I/O present, or expected I/O may be verified. • Proceed with application that depends on external I/O AcroBASIC Language Access to CANopen I/O All “objects” (for example steppers, encoders, axes, and masters) in an ACR controller may be accessed via bits and parameters as well as commands. In many cases, (for example, ADC inputs) the values may be accessed only through bits or parameters. An external digital input or output is the same in function and use as an on board digital input or output, and are used in the same way in the language. This is true not just for SET and CLR, but for IF, WHILE, INH, LD, and any other command that has a flag as an argument. This also applies to using parameters with analog I/O. To be consistent with the current language, extend all existing on board I/O functionality to external I/O, and facilitate backward compatibility with existing applications, external I/O are represented with bits and parameters in exactly the same way onboard I/O is. Network and Node Information Parameters and Flags After ACR9000 has started the CANopen network, and discovered and characterized nodes on the network, it fills in an information parameter block for the network and each discovered node. It also updates the Extended I/O Control/Status flags shown below. Extended I/O Control/Status (P4448) Flag Number Control Flags Start Network 11265 Reset Network 11266 Reserved 11267 Status Flags CANopen controller installed 11268 Network Operational 11269 Network Start Failed 11270 Node Failure 11271 SW Rx Overflow 11272 HW Rx Overflow 11273 Additional Features 155 Parker Hannifin Field Description Read/ Write Start Network R/W Description When set, this flag will attempt to communicate with the CANopen network. This flag is automatically cleared by the controller when the attempt to start the network has completed. See the section on “Starting and Configuring the Network” for more details. Reset Network R/W When set this flag will reset all of the Extended I/O nodes. This may be needed if there is a baud rate, node ID, wiring change, unrecoverable error or a loss in communications. CANopen Controller R Installed This flag is set if the controller has the CANopen hardware and cleared if it does not. Network Operational R This flag is set when the CANopen network is in the “Operational” state and communicating. It is cleared if there is no communication or some other error. Check the below flags for more information on the error, the CANopen LED or the DIAG command. Network Start Failed R This flag is set when a request to start the network was issued and there was a failure. Check the below flags for more information, the CANopen LED and the DIAG command. Node Failure R This flag is set when one, more nodes are lost, or not responding while the network is operational. Check the below flags for more information, the CANopen LED and the DIAG command. SW Rx Overflow R A flag indicating that the software receive buffer has overflowed. HW Rx Overflow R A flag indicating that the hardware receive buffer has overflowed. 156 Programmer’s Guide Parker Hannifin The description and parameter numbers are shown in the following table. The control parameters are those that should be set before attempting to start the network. The status parameters are those that the controller will set because of attempting to start the network. Extended I/O Control/Status Control Parameters Master node ID P32768 Bit Rate (Kb) P32769 Number of slave nodes P32770 Alt Digital I/O Mapping P32771 Cyclic Period (milliseconds) P32772 Status Parameters Health Period (milliseconds) P32773 Reserved P32774 Number of digital inputs bytes P32775 Number of digital outputs bytes P32776 Number of analog inputs P32777 Number of analog outputs P32778 Bus state (see table below) P32779 Reserved P32782 Reserved P32783 Field Description Master Node ID Read/ Write R/W Description The controller’s ID in the CANopen Network Bit Rate R/W The bit rate in Kb for the CANopen Network Number of Slave R/W Nodes Alternate Mapping of The number of slave nodes not including the controller/master. R/W Digital I/O Remap CANopen Digital Inputs and Outputs to lower XIO bits. See Alternate Mapping of Digital I/O section. Cyclic Period R/W The time between updating data on the network. Health Period R The Health period this is always set to 10 times the Cyclic Period. See the “Health Period and Node Health” section for more detail. Number of Digital Input Bytes R The total number of bytes (1 byte = 8 bits) taken for digital inputs on the network. Additional Features 157 Parker Hannifin Read/ Write Field Description Number of Digital R Output Bytes Description The total number of bytes (1 byte = 8 bits) taken for digital outputs on the network. Number of Analog R inputs The total number of analog inputs on the network. Number of Analog R Outputs The total number of analog outputs on the network. Bus State R Indicates the current bus state. See the next page for more detail on what this value means. The CANopen STATUS LED table below gives the possible LED indicator states and the corresponding CAN state and controller. The only normal states are “PRE-OPERATIONAL” and “OPERATIONAL”. Any red in the CAN LED indicates a problem. All states listed below are consistent with CiA DR-303-3 “Indicator Specification”, although not all possible states listed in that document can occur in the ACR9000. In addition, the ”off” and “blinking red” indications are unique to the ACR9000, not included and not conflicting with the states listed in CiA DR-303-3 “Indicator Specification”. The CANopen status LED is located just below the CANopen connector on the ACR9000. CANopen STATUS LED CiA DR 303-3 CAN state OFF N/A Description Possible ACR9000 state(s) No CAN controller 0 detected Blinking Green Solid Green Pre- CANopen is in the pre- Operational operational state. Operational The network is now 1,3,4,5 2 exchanging data One Red blink Warning limit At least one of the error inside blinking reached counters of the CAN Green 6 controller chip has reached or exceeded the warning level (too many error frames) Two Red blinks Error control A guard event or inside blinking event (Health heartbeat event has Green event) occurred. Solid Red Bus Off The CAN controller is bus 7 10 off Blinking Red N/A ACR internal error or transmission overrun 158 Programmer’s Guide 8,9 Parker Hannifin The Bus State Description table below gives the possible bus states and the corresponding CAN LED indicator state. The only normal states are “READY TO START” and “NETWORK STARTED”. Any red in the CAN LED indicates a problem. Bus State Description (parameter P32779) Bus State CAN LED State PRE-INITIALIZED. The network has not been 0 off 1 Blinking Green NETWORK STARTED. Successful network start. 2 Solid Green INVALID MASTER NODE ID. The ACR9000 node ID 3 Solid Red 4 Solid Red 5 Blinking Green 6 One Red blink initialized yet. This should only happen during power up or reset. If the CAN LED stays OFF, it indicates that the ACR9000 did not detect its internal CAN controller chip. PRE_OPERATIONAL. The user’s node information and bit rate have been verified and the CAN controller is ready to accept the “start network” bit. (11265) must be between 1 and 127 inclusive. INVALID MODULE NODE INFORMATION. The module node IDs must be between 1 and 127 inclusive, must be unique, and not the same as the master node ID. A maximum of 4 module nodes is allowed. CHARACTERIZATION ERROR. An expected external node has not responded to interrogation during attempt to start network. Will occur if a stated node ID does not match the actual node ID, or if the node is missing or at the wrong bit rate or not operational. The network is still ready to start once the external node problem is resolved. EXCESS BUS ERRORS. The controller chip has too many bus errors. One possible reason would be inside blinking incorrect bit rate on one or more modules. Green HEALTH EVENT. A node has stopped sending 7 Two Red blinks heartbeat or node guard responses. The errant inside blinking node will have a node state of 0 (dead). See table Green below. One possible reason would be node receive overrun caused by a cyclic period that is too fast for the node. INTERNAL ERROR. A firmware or hardware internal 8 Blinking Red 9 Blinking Red 10 Solid Red error has occurred on power up or after an attempt to start the network. Requires factory consultation TRANSMISSION OVERFLOW. The amount of data that must be transferred each cyclic update is greater than the bit rate allows. Increase the bit rate or decrease the cyclic rate. BUS OFF. The CAN controller is bus off, and the network must be re-started. Additional Features 159 Parker Hannifin The Node ID must be set by the user to match the node ID settings on the actual nodes. All other node information is filled in by the controller after the network is started. The node information is saved with the ESAVE command, and user applications may use it to verify expected network configuration, or make run time application decisions. This information could serve as a source for a front-end software GUI that displays bus and node status, although no configuration would be possible. Another possibility would be to implement a sort of “Network Configuration Verify” command that would allow the application to easily verify that the configuration is the same every time. In the table below, nodes are numbered 0-3, like all other ACR objects. This is the node number, from the ACR9000 point of view. The node ID is the setting on that node’s DIP switch, and must be between 1 and 127, but may not conflict with the chosen Master node ID. Description/Node number 0 1 2 3 Node Id 33024 33040 33056 33072 Number of Digital Inputs 33025 33041 33057 33073 33026 33042 33058 33074 Number of Analog Inputs 33027 33043 33059 33075 Number of Analog Outputs 33028 33044 33060 33076 Health Type (0=not present, 33029 33045 33061 33077 33030 33046 33062 33078 (bytes) Number of Digital Outputs (bytes) 1=heartbeat, 2= lifeguarding) Node state (0=dead, 1=live) 160 Programmer’s Guide Parker Hannifin Flags for Extended Digital I/O Each possible node will have two blocks of flag parameters, each 16 parameters in length, to accommodate the possible 512 bits each of extended digital inputs and outputs. Flag parameter numbers are shown the table below. 32 bit block type Starting parameter Ending parameter Node 0 digital inputs 4456 4471 Node 0 digital outputs 4472 4487 Node 1 digital inputs 4488 4503 Node 1 digital outputs 4504 4519 Node 2 digital inputs 4520 4535 Node 2 digital outputs 4536 4551 Node 3 digital inputs 4552 4567 Node 3 digital outputs 4568 4583 For each node, the lowest bit number for extended digital inputs block of that node will correspond the lowest numbered digital input on that node on the network. Numbering will proceed upward for all the digital inputs on that numbered node. The same process occurs for the Digital Outputs. This continues until the actual number of digital inputs and outputs on the network or maximum number (512) of digital I/O is reached. For example, the first digital input on node 0 is bit 11520, and the first digital input on node 2 is bit 13568. Each node will have an information parameter block, described later in this text. This block will contain, among other things, the number of bytes of digital inputs and outputs. Digital I/O are assigned in blocks of eight, so the number of bits assigned to each node is a multiple of eight. For example, suppose node 2 has 12 digital inputs. Node 2’s inputs would be bits 13568-13579, even though the node status parameter indicates that it has two bytes of inputs. The same numbering rules apply to digital outputs. Analog Inputs and Outputs Analog inputs and outputs are implemented by ADCs and DACs respectively, and unlike digital I/O, the analog values represent something with units and a range. For example, a DAC might assert –5V to 5V, or 0-20 mA, or some range of pressure, force, or speed. The ADCs and DACs also have variable binary resolution (10, 12, 14 or 16 bits). All CANopen values are left shifted to occupy the entire 16 bits as a two’s complement signed number, even if the actual ADC or DAC is less than 16 bits. This does not increase the analog resolution. In addition, the sign of the resulting 16-bit number is the same as the sign of the physical quantity it represents instead of being offset. A value of 32767 represents full scale positive for the device, and -32768 represents full scale negative for the device. Additional Features 161 Parker Hannifin For example a 0-10V DAC would take values of 0-32767, and a ±10V device would take values of –32768 to 32767. However, a ±5V device would also take values of –32768 to 32767. To translate from this raw binary number to the range and units being controlled or measured, ACR9000 employs entered offsets and gains. An offset has the same units as the user units of the analog value, for example volts or milliamps, and translates the center of the analog range to a value that allows a gain to be applied. A DAC gain has the units of full-scale binary resolution per user unit. The DAC range is 16-bit or 65536 DAC counts, regardless of the actual DAC resolution. For example, suppose a 12-bit DAC asserts –10V to +10V, where a value of 32768 will assert –10V and 32767 will assert +10V. In this case, the offset is 0V, and the gain is (65536/20 = 3276.8). If the user wants to assert 7.5V, a value of 7.5 *3276.8 = 24576 must be written to the DAC. The process is different for an ADC. An ADC gain has the units of fullscale user units. For example, if the input of the analog device were a maximum of +/- 10V, then the gain would be 10. Alternatively, if the input of the analog device were a maximum of +/- 20ma, then the gain would be 20. Internally the raw analog count value is normalized such that +/-1.0 represents full scale positive and negative before the user gain is applied, and user offset added. The ACR9000 automatically performs this arithmetic so that the analog values appear to the user as user units, not raw DAC or ADC counts. The user must know the analog range of the DAC or ADC in order to calculate the appropriate gain for entry into the ACR9000 parameter structure. Offset values will usually be zero unless an actual physical offset is required. ACR9000 uses default values for gains and offsets if the user does not overwrite the defaults. All default-offset values are zero. All default ADC gains are ten (10.0), and all default DAC gains are 3276.8. The DAC and ADC values, gains, and offsets are accessed in blocks of eight parameters each, as shown in the table below. Since each node may accommodate all 32 analog inputs and outputs, a range of 512 bits is reserved for each node. The parameter numbers correspond to a range of 33280-33791 for the lowest numbered node, 33792-34303 for the next node, etc. The table below shows the parameter mapping for the lowest number node. For each higher number node, add 512. 162 Programmer’s Guide Parker Hannifin DAC Parameter/DAC number 0 1 … 31 DAC Output Value P33280 P33296 … P33776 Reserved P33281 P33297 … P33777 DAC Gain P33282 P33298 … P33778 DAC Offset P33283 P33299 … P33779 Reserved P33284 P33300 … P33780 Reserved P33285 P33301 … P33781 Reserved P33286 P33302 … P33782 Reserved P33287 P33303 … P33783 ADC Parameter/ADC number 0 1 … 31 ADC Input Value P33288 P33304 … P33784 Reserved P33289 P33305 … P33785 ADC Gain P33290 P33306 … P33786 ADC Offset P33291 P33307 … P33787 Reserved P33292 P33308 … P33788 Reserved P33293 P33309 … P33789 Reserved P33294 P33310 … P33790 Reserved P33295 P33311 … P33791 These tables appear similar to the other parameter tables for ACR DACs and ADC’s, but there is no relationship in function. Nor do the other DAC and ADC commands have any function for ACR9000 extended analog I/O. The DAC commands assume their use as command outputs for drives, and ACR9000 does not have the type of ADCs that are assumed by other ADC commands. Saved Parameters All the parameters required to set up the extended I/O network are saved with the ESAVE command, and automatically recalled on power up. In addition, some of the parameters determined by the controller, such as the total number of analog and digital I/O, are also saved with the ESAVE command. This allows an application to compare the total I/O expected before the network is started with the actual amount found when the network is started. The exact parameters saved and recalled are P32768 through P32778, the node IDs for each node, and the gains and offsets for all DAC and ADC parameter blocks of each node. Example The following example uses two Parker I/O nodes. The first, configured as node 3, has a PIO-337, four digital inputs, four digital outputs, four analog inputs (0 to 10 VDC) and two analog outputs (0 to 10 VDC). The second, configured as node 4, has a PIO-347, four digital inputs, four digital outputs, four analog inputs (0 to 10 VDC) Additional Features 163 Parker Hannifin and two analog outputs (0 to 10 VDC). They are both configured at a bit rate of 1 Mb. The example shows the required setup, and how to use the data in a very basic program. P32768 = 5 : REM SET THE CONTROLLER ID TO 5 P32769 = 1000 : REM SET THE BIT RATE TO 1 Mb P32770 = 2 : REM TELL THE CONTROLLER THERE :REM ARE 2 SLAVES ON THE NETWORK P33024 = 3 : REM SET NODE 0 TO PHYSICAL NODE 3 P33040 = 4 : REM SET NODE 1 TO PHYSICAL NODE 4 P33056 = 0 : REM SET NODE 2 TO NOTHING P33072 = 0 : REM SET NODE 2 TO NOTHING P32772 = 50 : REM SET THE CYCLIC PERIOD TO 50 ms SET11265 : REM START THE NETWORK DWL1 : REM DWELL FOR A SECOND TO ALLOW THE REM NETWORK TO BECOME OPERATIONAL IF (NOT BIT 11269) THEN SET 11266 REM IF THE NETWORK IS NOT OPERATIONAL AT REM THIS POINT THEN TRY TO RESET IT REM MORE CODE MAY BE NEEDED HERE TO ENSURE THE NETWORK IS OPERATIONAL INH 11520 : REM WAIT UNTIL THE FIRST DIGITAL INPUT ON REM NODE 0 IS ON SET 12033 : REM TURN ON DIGITAL OUTPUT 2 ON NODE 0 SET 13057 : REM TURN ON DIGITAL OUTPUT 2 ON NODE 1 IF (P33288 > 5.0) THEN P33792 = 2.5 REM IF ANALOG INPUT 1 FROM NODE 0 IS REM GREATER THAN 5 VDC THEN SET ANALOG REM OUTPUT 1 ON NODE 1 TO 2.5 VDC INH –11520 : REM WAIT UNTIL THE FIRST DIGITAL INPUT ON REM NODE 0 IS OFF CLR 12033 : REM TURN OFF DIGITAL OUTPUT 2 ON NODE 0 CLR 13057 : REM TURN OFF DIGITAL OUTPUT 2 ON NODE 1 P33792 = 0 : REM RESET ANALOG OUTPUT 1 ON NODE 1 TO 0 Drive Talk The Drive Talk feature on ACR series controllers provides communication with Aries drives through the Axis connectors. You can include Drive Talk in programs and PLC programs. Machine builders, for example, could configure and monitor drive data—such as motor and drive temperatures, drive under or over voltages, and excessive torque—through a custom HMI status panel. Drive Talk lets you: • Set the controller to automatically assign addresses to Aries drives. Subsequently, programs can use axis aliases and the controller manages the drive address-prefixing. • Get existing drive configuration data, and send new configuration data. • Get drive status data. • Set which error data the Aries drive logs. 164 Programmer’s Guide Parker Hannifin Communication The Axis connectors provide an RS-485 communication interface to the drive through the COM2 port. Parker drives supporting Drive Talk automatically detect RS-232/485 on power up; therefore, the drives must be connected to ACR series controller before being powered up. Otherwise, the drives set the communication interface as RS-232. Parameters and Bits Drive Talk uses the following parameters and bits: • P28672–P28672 Drive Talk Parameters • Bit8960–Bit9455 Drive Talk Error-Log Flags • Bit9472–Bit9983 Drive Talk Drive-Status 1 Flags • Bit9984–10495 Drive Talk Drive-Status 2 Flags • Bit10496–Bit11007 Drive Talk Drive-Control Flags • Bit 11040–Bit11071 Stream Flags for Drive Talk—LPT1 • Bit11072–Bit11103 Stream Flags for Drive Talk—COM1 • Bit11104–Bit11135 Stream Flags for Drive Talk—COM2 • Bit11168–Bit11199 DPCB/Stream 3 Flags for Drive Talk • Bit11200–Bit11231 Stream 4 Flags for Drive Talk • Bit11232–Bit11263 Stream 5 Flags for Drive Talk Auto-Addressing You can have the controller automatically assign address numbers to drives that are connected and use the Drive Talk feature. By default, auto-addressing is disabled. When enabled, an ACR controller assigns addresses only to the Aries drives connected and powered up. For all Aries drives, the default address is zero—zero represents a non-address to the drive. Therefore, the first acceptable address is one. The ACR controllers assigns each drive an address relative to the axis to which the drive is connected. As the numbering for controller axes begins with zero and the drives cannot accept an address of zero, the addressing scheme is “off” by one. This is best illustrated through an example. For example, you have a eight axis ACR controller, and axes 0, 1, 4, and 7 are connected to drives with the Drive Talk feature. The autoaddress sequence is as follows: the drive connected to axis 0 is assigned address “1”; the drive connected to axis 1 is assigned address “2”; the drive connected to axis 4 is assigned address “5”; and the drive connected to axis 7 is assigned address “8”. Additional Features 165 Parker Hannifin Enabling Auto-Addressing ► To enable auto-addressing, set the “Auto Address Request” bit (bit index 0, Drive Talk Drive-Control Flags). Drive Control Flags The “Drive Talk Drive Control Flags” let you get and send configuration data, set up the Aries error log, and retrieve status data. NOTE: All Drive Talk control bits are self-clearing. To perform an action one time, set the control bit. When the bit is cleared, the action is complete or the action has timed out. Configuration You can get and send the configuration data of an Aries drive. On power up the controller does not contain any drive configuration data. When you get drive configuration data, the controller stores it in the “Drive Talk Parameters”. Upload ► To upload configuration data, set the “Get Configuration Request” bit (bit index 1, “Drive Talk Drive-Control Flags”). Download ► To download configuration data, set the “Send Configuration Request” bit (bit index 2, “Drive Talk Drive-Control Flags”). Error Log Flags You can set the Aries drive to log errors you are concerned with. Using the “Drive Talk Error-Log Flags”, set the bits for those errors you want to monitor. Then use the “Send ERRORL Request” bit to send the request to the Aries drive. The Aries drive logs the error data as text. Because the Aries error log is maintained as a text file, there is no parameter or bit data the ACR controller can get. You can read the error log by directly accessing the Aries drive. For more information, see the section titled Using the “DTALK” Mode (below), and the Aries User Guide, p/n 88-021610-01. ► To indicate what errors a drive is to log, set the bits in “Drive Talk Error-Log Flags.” ► To send the error data request, set the “Send ERRORL Request” bit (bit index 3, “Drive Talk Drive-Control Flags”). 166 Programmer’s Guide Parker Hannifin Drive Status Flags You can get status data of an Aries drive. On power up the controller does not contain drive status data. In the “Drive Talk DriveControl Flags” (bit index 8-25) you can select what status data the controller gets. Then set the “Get Drive Data Request” bit (bit index 4) to retrieve the status data. The controller stores the drive status data in the “Drive Talk Parameters”. The “Drive Talk Drive-Control Flags” also contain “Drive Talk Drive Status 1” and “Drive Talk Drive Status 2” bits (bit indexes 28 and 29). Unlike bit indexes 8-25, the data retrieved for bit indexes 28 and 29 are stored in the “Drive Talk Drive Status 1 Flag” and “Drive Talk Drive Status 2 Flag” bits. ► To indicate what status data you want, set the “Drive Talk DriveControl Flags” (bit index 8-29). ► To get drive status data, set the “Get Drive Data Request” bit (bit index 4, “Drive Talk Drive-Control Flags”). NOTE: The rate at which the controller updates data is governed by the number of participating axes and the baud at which Drive Talk communication is set. Using Drive Talk The most sensible way to enable Drive Talk is through a program. If you have a startup program (see the PBOOT command) for your ACR controller, consider including the Drive Talk code in it. NOTE: Be sure all Aries drives are connected to the ACR controller before power up (due to the Aries communication autodetect—see the section titled Communication, above). To enable Drive Talk, do the following: 1. Send the OPEN DTALK command as follows: OPEN DTALK “COM2:9600,N,8,1” AS #1 2. Set the “Communication Device” parameter (in “Drive Talk Parameters”) for each axis to which an Aries drive is connected. 3. Set the “Drive Type” parameter (in “Drive Talk Parameters”) to zero (Aries) for each axis to which an Aries drive is connected. 4. Clear the “Stream Drive Lost”, “Stream Drive Timeout”, and “Stream Address Error” bits for COM2 (bits 1112, 11123, and 11124 in “Stream Flags for Drive Talk COM2”). 5. Set the “Auto Address Request” bit (in “Drive Talk Drive-Control Flags”) for each axis to which an Aries drive is connected. Once set up, you can do the following You can then get and send configuration data, set the error log for the drive, and get drive status data. Additional Features 167 Parker Hannifin Example The following example demonstrates the set up for two axes with Aries drives: OPEN DTALK “COM2:9600,N,8,1” AS #1 REM OPEN PORT P28672=1 : REM SET DEVICE NUMBER FOR DRIVE 1 P28928=1 : REM SET DEVICE NUMBER FOR DRIVE 2 P28673=0 : REM SET DRIVE TALK AXIS1 TO ARIES DRIVES P28929=0 : REM SET DRIVE TALK AXIS2 TO ARIES DRIVES CLR 11122 : REM RESET TIMEOUT CLR 11123 : REM RESET TIMEOUT CLR 11124 : REM RESET TIMEOUT SET 10505 : REM GET TPE AXIS0 USING GET DRIVE DATA SET 10500 : REM UPDATE DATA AXIS0 USING REM GET_DRIVE_DATA_REQUEST SET 10537 : REM GET TPE AXIS1 USING GET DRIVE DATA SET 10532 : REM UPDATE DATA AXIS1 USING REM GET_DRIVE_DATA_REQUEST ?P28693 : REM SHOW TPE AXIS0 ON TERMINAL ?P28949 : REM SHOW TPE AXIS1 ON TERMINAL SET 10500 : REM GET TPE AXIS1 USING GET DRIVE DATA SET 10532 : REM UPDATE DATA AXIS1 USING REM GET_DRIVE_DATA_REQUEST ?P28693 : REM SHOW TPE AXIS0 ON TERMINAL ?P28949 : REM SHOW TPE AXIS1 ON TERMINAL Closing Drive Talk ► To close a Drive Talk session, use the CLOSE command. Using the “Pass Through” Mode To communicate directly to the Aries drive, you can set the ACR controller into a “pass through” mode—where the controller acts as a communication conduit to another device. Use the “passthrough” mode to trouble shoot the Aries drive, or run a program and monitor its progress and output (see LRUN command). NOTE: When set in the “pass through” mode, the ACR controller no longer accepts AcroBASIC commands. Think of the commands functioning like a switch. The ACR controller accepts AcroBASIC commands until it enters Drive Talk. Once in Drive Talk, the controller communicates with the Aries drive— programs and PLCs can get and send configuration data, and get drive status data. In “pass through” mode, the controller acts as a communication conduit to the drive. The following diagram helps illustrate the switch concept: Because the “pass through” mode is an extension of Drive Talk, you first have to enable Drive Talk on the ACR controller. Once enabled, you can then enter the “pass through” mode. To do this, send the 168 Programmer’s Guide Parker Hannifin DTALK command from a terminal. For more information, see DTALK in the ACR Command Language Reference. Once in “pass through” mode, you can communicate with an Aries drive using its native command language. NOTE: You can only use the DTALK command to set the controller into the “pass through” mode. Subsequent communication with the Aries drive is performed through a terminal, using the Aries command language. Do not use the DTALK command in a ACR controller program or PLC. Example The following example opens a Drive Talk session, then enters the “pass through” mode. P00>OPEN DTALK "COM2:9600,N,8,1" AS #1 : REM OPEN DRIVE TALK PORT FOR REM DEVICE NUMBER 1 P00>P28672=1 : REM SET AXIS0’S DEVICE NUMBER FOR DTALK REM TO 1, MUST MATCH THE OPEN COMMAND ABOVE P00>P28673=0 : REM SET AXIS0 TO AN ARIES DRIVE P00>CLR11122 CLR11123 CLR11124 : REM CLEAR ALL TIMEOUT BITS P00>SET11104 : REM START AUTO ADDRESS P00>DTALK X : REM START TALKING DIRECTLY TO THE DRIVE REM PRESS ESCAPE TO EXIT TPE *0 TPE *2576 TREV *Aries OS Revision 2.00 DMODE *2 P00> Additional Features 169 Parker Hannifin Exiting “Pass Through” Mode Exiting the “pass through” mode and closing the Drive Talk session are two distinct acts. Though you exit the “pass through” mode, the Drive Talk session remains open. See the section titled Closing Drive Talk (above). ► To exit the “pass through” mode from the terminal, send the escape character (ASCII 27). Inverse Kinematics Kinematics is a branch of mechanics that provides a mathematical means of describing motion. Inverse kinematics looks at a position and works backwards to determine the motions necessary to obtain that position. Robotic applications frequently use inverse kinematics. Algorithms describe the mechanical system, and translate the rotational motion of robotics into Cartesian coordinates. Consequently, an end user provides simple Cartesian coordinates for an application, and the inverse kinematics calculates necessary movements to reach that position. Suppose an application has a cutting tool at the end of a 4-axis robotic arm, and an HMI. The controller, using algorithms developed by the application builder, transforms the motion target-points from Cartesian coordinates to rotational coordinates to position the arm joints and cutting tool. Once transformed, the controller interpolates the target points to generate a motion path. See the illustration below: Programming the Inverse Kinematics Each application is different. The algorithm for your application can consist of equations, logical expressions, and commands in the AcroBASIC language. You can do the following: • Store algorithms in any of the programs 0 through 15 (be sure to dimension memory for the program). • Save the program to Flash memory. 170 Programmer’s Guide Parker Hannifin • Use the PASSWORD command to protect the program from uploading or listing. • Include the INVK commands in a program, or in the setup before a program. Example The following program results in a circle instead of a straight line because of the transformation described in program 7 (PROG7). PROG7 PROGRAM P12361= sin( P12360) : REM Describe transformation in PROG7 P12617= cos(P12360) : REM Describe transformation in PROG7 ENDP PROG0 ATTACH MASTER0 ATTACH SLAVE0 AXIS0 "X" ATTACH SLAVE1 AXIS1 "Y" PPU X 2000 Y 2000 : REM Scale commands to engineering units ACC 100 DEC 100 STP 0 VEL 0 INVK PROG7 : REM Tell MASTER0 where the transformation are INVK ON : REM Turn on the Kinematics PROGRAM0_start X / 0.2 : REM Incremental move in Cartesian space GOTO start Additional Features 171 Parker Hannifin Troubleshooting When a system does not function as expected, the first thing to do is identify and isolate the problem. When this is accomplished, steps may be taken toward resolution. Problem Isolation The first step is to isolate each system component and ensure that each component functions properly when it is run independently. This may require dismantling the system and putting it back together piece by piece to detect the problem. If additional units are available, it may be helpful to exchange them with the system’s existing components to help identify the source of the problem. Determine if the problem is mechanical, electrical, or software related, and note whether it can be recreated or is repeatable. Random events may appear to be related, but they are not necessarily contributing factors to the problem. There may be more than one problem. Isolate and solve one problem at a time. Information Collection Document all testing and problem isolation procedures. If the problem is particularly difficult to isolate, be sure to note all occurrences of the problem along with as much specific information as possible. These notes may come in handy later, and will also help prevent duplication of testing efforts. Once the problem is isolated, refer to Table 1, Common Problems and Their Solutions. If instructed to contact Parker Technical Assistance, please refer to Technical Assistance for contact information. 172 Programmer’s Guide Parker Hannifin Troubleshooting Table This section includes a table of common problems and their solutions. For locations of the ACR90x0 controllers’ status LEDs, and for non-problem indications, see Chapter 2, Specifications, in the ACR9000 Hardware Installation Guide. Table 1 in this chapter only lists problem LED indications. PROBLEM CAUSE / VERIFICATION SOLUTION There is no power to the controller. Check for disconnected power cable. Power Status LED Power status LED is not on Check for blown fuse. Verify the power source meets requirements outlined in Chapter 2, Specifications, of the ACR9000 Hardware Installation Guide. Power status LED is There is inadequate power to the controller. 1. steady red Verify the power source meets requirements outlined in Chapter 2, Specifications, of the ACR9000 Hardware Installation Guide. 2. Remove all cables except power. If the LED turns green after removing the cables, reattach the cables one at a time to determine which cable or device is causing the problem. If the LED does not turn green, contact Parker Technical Assistance. Power status LED is Controller encountered error during boot process. Contact Parker Technical Assistance. alternating red/green Troubleshooting 173 Parker Hannifin PROBLEM CAUSE / VERIFICATION SOLUTION Axis status LED is not Axis is disabled with no fault (normal state for Enable drive. on steppers or servo motors). Axis Status LED Axis status LED is red Axis fault. Motion on this axis is disabled during a Check for faulted drive. Enable drive. (Refer to Operation fault state. section of this table.) NOTE: The LED illuminates red whenever the drive Check for axis cable disconnected. fault input is activated (drive faulted, no axis cable connected, etc.) CANopen LED CANopen LED is red, Excess bus errors: At least one CAN controller error The controller chip has too many bus errors. One possible single flash counter has reached or exceeded the warning level reason would be incorrect bit rate on one or more modules. (too many error frames). CANopen LED is red, Error control event: guard event (NMT-slave or NMT- Health Event: A node has stopped sending heartbeat or node double flash master) has occurred. guard responses. The errant node will have a node state of 0 Error control event: heartbeat event (heartbeat consumer) has occurred. (dead). One possible reason would be node received overrun caused by a cyclic period that is too fast for the node. Another possible reason is the connection between the master and slave has been severed. CANopen LED is red, Sync error: SYNC message has not been received Object 0x1006 contains the sync cycle period in ms. The sync triple flash within the configured communication cycle period cycle period time out should be the configured sync cycle timeout. period multiplied by 1.5. CANopen LED is off Controller is executing a reset. This is not a problem unless the controller is finished executing a reset. If the LED does not turn on after a reset, check the connection to the controller. Ethernet Status LED Ethernet link/activity: No Ethernet link is detected. yellow LED is off Check for the correct type of cable. Verify the cable pinout matches the ACR90x0. (See the section “Ethernet and ETHERNET Powerlink Connectors” in Chapter 2, Specifications, of the ACR9000 Hardware Installation Guide.) Ethernet speed: green Ethernet port is getting intermittent 10Mbps and Verify the Ethernet card in the PC is functioning correctly. LED is flashing 100Mbps connection. Verify the ACR controller Ethernet port is functioning correctly. 174 Programmer’s Guide Parker Hannifin PROBLEM CAUSE / VERIFICATION SOLUTION No Ethernet link is detected. Check for the correct type of cable. EPL Status LED EPL link/activity: yellow LED is off Verify the cable pinout matches the ACR90x0. (See the section “Ethernet and ETHERNET Powerlink Connectors” in Chapter 2, Specifications, of the ACR9000 Hardware Installation Guide.) Ethernet speed: green Ethernet port is getting intermittent 10Mbps and Verify the Ethernet card in the PC is functioning correctly. LED is flashing 100Mbps connection. Verify the ACR controller Ethernet port is functioning correctly. Incorrect cable. Check that the serial cable is a null modem serial Serial Communication Problem communicating with controller communication cable. Incorrect COM port settings. Check COM port settings. Bits per second: 38400 Data bits: 8 Parity: None Stop bits: 1 Flow control: XON/XOFF Incorrect USB-serial adapter. Check for an incompatible USB to serial adapter. Recommended: BAFO BF-810 USB Communication Communication Error: 17054 USB driver not installed. Reconnect ACR90x0 controller. Windows will detect new hardware. Install the driver from Parker technical support or CD. Troubleshooting 175 Parker Hannifin PROBLEM CAUSE / VERIFICATION SOLUTION Ethernet Communication Communication Error: Using straight through (patch) Ethernet cable. Change to a crossover Ethernet cable. Using crossover Ethernet cable through router/hub. Change to a straight through Ethernet cable. Wrong computer IP address and/or subnet mask. Change IP address of computer in Ethernet card settings. Same IP address as ACR9000. Change IP address of computer in Ethernet card settings. Communication Error: Wrong IP address configured in ACR-View Enter in correct ACR9000 IP address. 11010 communication window. 11003 Communication Error: 11010 Communication Error: 11003 Communication Error: 10061 PCI Card Communication Controller is not AMCSPCI driver card not installed correctly. present in Windows Reinsert the ACR1505 or ACR8020. Check for compatible operating systems. Device Manager Communication Error: ACR-View cannot establish communication. 17080 Check PCI communications. Shut down computer and restart. Operation Drive will not enable Motion enable input is open. Verify by checking Status Panels Æ Bit Status Æ Miscellaneous Control Flags. Check if 24 VDC is applied to the Motion Enable Input. Bit 5646 indicates status of 24VDC Motion Enable Input. Bit 5645 indicates if Motion Enable Input has been latched. If both 5645 and 5646 are set, reapply 24V to Motion Enable Input. If only 5645, then SET 5647 to clear 5645 latch. Encoder signal fault and/or encoder signal is lost. For Encoder Signal Fault: Check for incorrect termination. Verify by checking Status Panels Æ Bit Status Æ Noise in the system can cause missed and/or false encoder Encoder Flags. feedback values. NOTE: Each encoder input has specific flag sets. For Encoder Signal Lost: Check feedback cables. Amplifier/drive is not powered on. Check if power is applied to the amplifier/drive. 176 Programmer’s Guide Parker Hannifin PROBLEM CAUSE / VERIFICATION SOLUTION Excess position error (EXC). (Motor has exceeded Increase the EXC setting. maximum position error.) Verify by checking Status Panels Æ Bit Status Æ Axis Flags Æ Primary Axis Flags. (Each axis is indicated by Bit “Not Excess Error.”) Drive will enable, but Incorrect configuration for motor attached. will not hold torque Correct the configuration for servo or stepper through the Configuration Wizard. Servo motor running open loop. Disable drive and clear the appropriate Bit. Verify that the drives are running open loop: Status Panels Æ Bit Status Æ Axis Flags Æ Primary Axis Flags. (Each axis is indicated by Bit “Open Servo Loop.”) Tuning gains are not set correctly. Refer to Servo Tuning Tutorial. Check if the tuning gains are set too low: Status Panels Æ Numeric Status Æ Axis Parameters Æ Servo Parameters. Torque limit is not set correctly. Example: TLM X1 indicates torque is limited to 10% of drive Verify torque limit setting: Status Panels Æ Numeric motor capacity for axis X. Status Æ Axis Parameters Æ Limit Parameters Æ Plus/Minus Torque Limit. Troubleshooting 177 Parker Hannifin PROBLEM CAUSE / VERIFICATION SOLUTION Drive will enable, but Stepper output motion does not occur. ACR Correct configuration for stepper through Configuration Wizard. motor will not move controller not configured for stepper output in Tuning gains must remain at default values: PGAIN Configuration Wizard. 0.002441406; IGAIN, ILIMIT, IDELAY, DGAIN, DWIDTH, FFVEL, FFACC, and TLM=0. Axis encountered limits. Clear the appropriate Positive/Negative End-of-Travel Limit Verify: Status Panels Æ Bit Status Æ Axis Flags Æ Encountered Bit. Quinary Axis Flags. Clear any Master Kill All Motion Request Bits and Axis Kill All (Each axis is indicated by Bit “Positive/Negative End- Motion Request Bits. of-Travel Limit Encountered.”) Master Kill All Moves request is active. Clear the appropriate Master Kill All Moves Request Bit. Verify: Status Panels Æ Bit Status Æ Master Flags. Also clear all associated Slave Kill All Motion Request Bits. (Each master is indicated by Bit “Kill All Moves Request.”) Axis Kill All Motion Request is active. Clear the appropriate Axis ACR9000 Kill All Motion Request Bit. Verify: Status Panels Æ Bit Status Æ Axis Flags Æ Quaternary Axis Flags. (Each axis is indicated by Bit “ACR9000 Kill All Motion Request.”) Master in feedhold or feedholding state. Set the appropriate Cycle Start Request Bit. Verify: Status Panels Æ Bit Status Æ Master Flags. (Each master is indicated by Bit “In Feedhold or Feedholding.”) Slave axis not attached to master. Correct the configuration through the Configuration Wizard and Check the configuration by going into the correct PROG level. Type ATTACH. download the setup code. Jog or Master Velocity set to zero (no Master Assign Velocity or Jog Velocity values. Example: VEL 1 or JOG Profile). VEL X 1. Check these parameters by going into the correct PROG level. Type VEL or JOG VEL. Commanded feedrate override set to zero. Assign the appropriate feedrate override value. Check the feedrate override by going into the correct PROG level. Type FOV. Example: FOV 1 indicates a master feedrate of 1. 178 Programmer’s Guide Parker Hannifin PROBLEM CAUSE / VERIFICATION SOLUTION Torque Limit is set to zero. Assign the appropriate Torque Limit value. Verify Torque Limit setting by Status Panels Æ Example: TLM X1 indicates torque is limited to 10% of drive Numeric Status Æ Axis Parameters Æ Limit motor capacity for axis X. Parameters Æ Plus/Minus Torque Limit Improper operation Feedback device counts are missing Check the feedback cable and connections. Check the amplifier to send back correct signals. Servo motors make audible noise Incorrect commanded distance or position Incorrect commanded velocity (for PCI controller cards) Incorrect termination / Check that the correct type of resistor (termination or pull-up) pull-up resistor. is installed for the type of encoder being used. Incorrect tuning gain settings. Check tuning gain settings. Incorrect motor commutation. Verify drive settings, motor connections. Incorrect move mode, absolute vs. incremental Make sure the move mode is correct ABS vs. INC. Incorrect PPU setting. Correct PPU setting for position or distance. Check the commanded velocity by going into the correct PROG level. Type (for example) VEL or JOG Assign the appropriate velocity value. Example: VEL 10 or JOG VEL X 10. VEL X. Incorrect torque limit Check the feedrate override by going into the correct PROG level. Type FOV. Assign the appropriate feedrate override value. Example: FOV Verify Torque Limit setting by Status Panels Æ Assign the appropriate Torque Limit value. Example: TLM X1 Numeric Status Æ Axis Parameters Æ Limit indicates torque is limited to 10% of drive motor capacity. 1 indicates a master feedrate of 1. Parameters Æ Plus/Minus Torque Limit. “Not valid while in Tried to enable/disable axis while motion is Check if axis is making coordinated motion: Status Panels ÆBit motion” message commanded. Status Æ Master Flags. (Each master is indicated by Bit “In received Motion.”) Check if the axis is making jog motion: Status Panels Æ Bit Status Æ Axis Flags Æ Primary Axis Flags. (Each axis is indicated by Bit “Jog Active.”) Troubleshooting 179 Parker Hannifin PROBLEM CAUSE / VERIFICATION SOLUTION Motion stops Axis has encountered soft limits. Jog off the limit. Clear the appropriate Positive/Negative Soft unexpectedly Verify: Status Panels Æ Bit Status Æ Axis Flags Æ Limit Encountered Bit. Clear the associated Master Kill All Quinary Axis Flags. (Each axis is indicated by Bit Moves Request Bits. “Positive/Negative Soft Limit Encountered.”) Axis has encountered Positive/Negative End-of- Clear the appropriate Positive/Negative End-of-Travel Limit Travel (EOT) Limits. Encountered Bit. Clear any Master Kill All Motion Request Bit, Check if EOT limits have been encountered: Status and any Axis Kill All Motion Request Bits. Panels Æ Bit Status Æ Axis Flags Æ Quinary Axis Flags. (Each axis is indicated by Bit “Positive/Negative EOT Limit Encountered.” I/Os not working Positive/Negative End-of-Travel (EOT) Limits not working. Onboard I/O and User Flags (0-3). respective hardware installation guides. If using Expansion I/O: Status Panels Æ Bit Status Æ Check if the Positive/Negative EOT Limits are CANopen Flags (ACR9000). Quinary Axis Flags. (Each axis is indicated by Bit “Positive/Negative EOT Limit Enable.”) Incorrect I/Os wiring. properly NOTE: A triggered output will create a contact closure, not a voltage source. Check wiring and external circuitry. Refer to ACR9000 Hardware Installation Guide. Servo motor runs away; If using onboard I/O: Status Panels Æ Bit Status Æ Check the wiring of the limits, referring to their enabled: Status Panels Æ Bit Status Æ Axis Flags Æ I/O not working Check that the associated inputs toggled: Analog output / encoder multiplier mismatch. If encoder feedback is correct for appropriate direction, change Verify analog output by Status Panels Æ Numeric “DAC GAIN” to the opposite value. Status Æ Object Parameters Æ DAC Parameters. If encoder feedback is not correct for appropriate direction, Verify encoder input by Status PanelsÆ Numeric change “ENC MULT” to the opposite value. Status Æ Object Parameters Æ Encoder Parameters. Amplifier has an analog input offset. Electrical noise. Correct the analog offset in the amplifier. Reduce electrical noise or move the product away from the noise source. Improper shielding. Use shielded, twisted pair wiring for encoder inputs, DAC/stepper outputs, and ADC inputs. Improper wiring. Table 1 Common Problems and Their Solutions 180 Programmer’s Guide Check wiring for shorts, opens, and mis-wired connections. Parker Hannifin Error Handling This section on error handling addresses error checking and recovery, which is to be programmed into each application. Error handling is then done automatically as the application runs, and is helpful in diagnosing problems. Sample Program (ACR90x0) The following is an example error handling routine for the ACR90x0 with firmware revision 1.18.15 and above. It was written to handle possible axis, CANopen, and Motion Enable Input error conditions. Parker does not intend this to be an actual application solution. Use this program as an example for error handling, and tailor the routines for your specific needs. This program is modular to illustrate the use of subroutines which decrease programming and debugging time. Program Notes: ► This program checks for errors in program 0 (PROG0) and master 0. It does not attempt to recover from the fault; it only prints error messages to a terminal (using string variables). ► This code can be used in any unused program from PROG1 to PROG7. ► When an Axis Kill All Motion Request is set, this program clears related error conditions, such as Software and Hardware End-ofTravel (EOT) flags, because they are not self-clearing. ► Each application will have different requirements, and code should be created specifically for individual applications. This example program uses four parameters for storing error codes (arbitrarily assigned to P50, P51, P52 and P53) that can be retrieved from an operator interface. This error program can be started from the "main" or startup program using the RUN command, or by setting the appropriate Program Run Request flag (for example, Bit 1032 for program 0). It can also be started by putting PBOOT in the first line of the example program (remove REM from the line with PBOOT in it). REM Generic Two-axis Error Checking and Recovery Routine for ACR9000 ' ****************************DISCLAIMER*************************** ' While precautions have been taken in the preparation of this note, ' Parker and the author assume no responsibility for errors or ' omissions. Neither is any liability assumed for damages resulting ' from the use of the information contained herein. Error Handling 181 Parker Hannifin ' This software program is provided free of charge and without ' warranty of any kind, either expressed or implied. In no event ' will PARKER HANNIFIN CORPORATION be liable for any damages, ' including but not restricted to lost profits, lost savings, or ' component failure arising out of the use or inability to use this ' software program. The sole purpose of this program is to ' demonstrate the functional application of the customer’s desired ' application. It is the responsibility of the user to insure that ' this program is not misused. ' ***************************************************************** REM Assign user names (aliases) to system flags and parameters. REM Ensure a minimum memory allocation for 50 aliases when setting REM up project in ACR-View's Configuration Wizard. Program memory REM requirement should be at least 15000 bytes to store and run REM program. #DEFINE XPosSoftEOT BIT16140 #DEFINE XNegSoftEOT BIT16141 #DEFINE YPosSoftEOT BIT16172 #DEFINE YNegSoftEOT BIT16173 #DEFINE XPosHardEOT BIT16132 #DEFINE XNegHardEOT BIT16133 #DEFINE YPosHardEOT BIT16164 #DEFINE YNegHardEOT BIT16165 #DEFINE XNotExcessError BIT769 #DEFINE YNotExcessError BIT801 #DEFINE XDriveFault BIT8477 #DEFINE YDriveFault BIT8509 #DEFINE HaltProgOnError BIT128 #DEFINE PrintErrors BIT129 #DEFINE ErrorOccurred BIT130 #DEFINE ClearErrorCodes BIT131 #DEFINE KillMasterMoves BIT522 #DEFINE XKillAllMotion BIT8467 #DEFINE YKillAllMotion BIT8499 #DEFINE XExcessErrorFault BIT8479 #DEFINE YExcessErrorFault BIT8511 #DEFINE XDriveEnabled BIT8465 #DEFINE YDriveEnabled BIT8497 #DEFINE XEncoderFault BIT2560 : REM BIT 2560,2561 are for ENC0 #DEFINE XEncoderLost BIT2561 #DEFINE YEncoderFault BIT2592 : REM BIT 2592,2593 are for ENC1 #DEFINE YEncoderLost BIT2593 #DEFINE MotionEnableOpen BIT5646 #DEFINE LatchedMEIOpen BIT5645 REM error codes to retrieve via front end application 182 Programmer’s Guide Parker Hannifin #DEFINE MEIErrorCode P50 #DEFINE CANopenErrorCode P51 #DEFINE XErrorCode P52 #DEFINE YErrorCode P53 REM additional variables used to determine when the error occurred #DEFINE Time LV0 #DEFINE ms LV1 #DEFINE seconds LV2 #DEFINE ExcSeconds LV3 #DEFINE minutes LV4 #DEFINE ExcMinutes LV5 #DEFINE hours LV6 #DEFINE ExcHours LV7 #DEFINE days LV8 PROGRAM PBOOT : REM program will execute when controller power is turned on REM dimension some string variables for error message REM storage/display and integers for clock DIM $V(10,80) DIM LV10 REM initialize error codes to zero MEIErrorCode = 0 CANopenErrorCode = 0 XErrorCode = 0 YErrorCode = 0 REM clear "PrintErrors" to prevent forced printing of error messages SET PrintErrors REM clear "ClearErrorCodes" to prevent this program from clearing REM codes after printing SET ClearErrorCodes _LoopStart REM --- Print out errors to a terminal if "PrintErrors" bit is set IF (PrintErrors) 'OPEN "COM1:38400,n,8,1" AS # 1 'OPEN "STREAM1:" AS #1 : REM for USB 'OPEN "STREAM2:" AS #1 : REM for Enet, 1st connection OPEN "STREAM3:" AS #1 : REM for Enet, 2nd connection ELSE CLOSE #1 ENDIF REM --------- Check Motion Enable Input --------IF (MotionEnableOpen AND MEIErrorCode = 0) SET ErrorOccurred MEIErrorCode = 1 $V0 = "Motion Enable Input is open" ELSE IF (NOT MotionEnableOpen and MEIErrorCode = 1) MEIErrorCode = 0 SET 5647 : REM request reset of the MEI input latched status Error Handling 183 Parker Hannifin REM flag (bit 5645) INH -5647 : REM wait until request has finished REM Clear axis KAMR flags CLR XKillAllMotion CLR YKillAllMotion $V0 = "Motion Enable Input is good" ENDIF REM - Check CANopen (PIO) status (only needed if using CANopen I/O) IF (P32779 > 0) IF (P32779 = 2) $V1 = "CANopen status is good" CANopenErrorCode = 0 ELSE IF (P32779 = 1) $V1 = "CANopen is ready to start (SET 11265)" CANopenErrorCode = 0 ELSE IF (P32779 > 2 AND CANopenErrorCode = 0) REM prevents recursive error display CANopenErrorCode = P32779 SET ErrorOccurred $V1 = "CANopen network problem occurred." ENDIF ENDIF REM --------- SOFTWARE EOT's ------------------------REM Software End-of-Travels (EOT's) do not set the axis REM Kill All Motion Request (KAMR) flags so must be REM handled separately. REM --------- X Software EOT's --------IF (XPosSoftEOT AND XErrorCode <> 1) INH -792 Set ErrorOccurred XErrorCode = 1 $V2 = "Positive Software End-of-travel hit, Axis 0" CLR XPosSoftEOT : REM EOT flag is automatically cleared, REM but we clear it to prevent recursive REM printing of error INH –XPosSoftEOT CLR KillMasterMoves ENDIF IF (XNegSoftEOT AND XErrorCode <> 2) INH -792 Set ErrorOccurred XErrorCode = 2 $V2 = "Negative Software End-of-travel hit, Axis 0" CLR XNegSoftEOT : REM EOT flag is automatically cleared, REM but we clear it to prevent recursive REM printing of error INH -XNegSoftEOT CLR KillMasterMoves ENDIF REM --------- Y Software EOT's --------- 184 Programmer’s Guide Parker Hannifin IF (YPosSoftEOT AND YErrorCode <> 1) INH -824 Set ErrorOccurred YErrorCode = 1 $V3 = "Positive Software End-of-travel hit, Axis 1" CLR YPosSoftEOT : REM EOT flag is automatically cleared, REM but we clear it to prevent recursive REM printing of error INH -YPosSoftEOT CLR KillMasterMoves ENDIF IF (YNegSoftEOT AND YErrorCode <> 2) INH -824 Set ErrorOccurred YErrorCode = 2 $V3 = "Negative Software End-of-travel hit, Axis 1" CLR YNegSoftEOT : REM EOT flag is automatically cleared, REM but we clear it to prevent recursive REM printing of error INH -YNegSoftEOT CLR KillMasterMoves ENDIF REM --------- Check Axis X --------IF (XKillAllMotion AND NOT LatchedMEIOpen) INH -792 : REM When KAMR flag is set, all motion stops with REM JOG move SET ErrorOccurred XErrorCode = 0 : REM Error number for axis 0 REM some "master" programs can be resumed, all others must be REM halted when error occurs. IF (HaltProgOnError) HALT PROG0 : REM stop program 0 and kill interpolated motion REM (MOV, CIRCW, CIRCCW, SINE) ELSE PAUSE PROG0 : REM issue RESUME PROG0 or CLR1048 to REM resume main prog ENDIF REM --------- Hardware EOT's ---------IF (XPosHardEOT) XErrorCode = 3 $V2 = "Positive Hardware End-of-travel hit, Axis 0" CLR XPosHardEOT : REM EOT flag is not automatically REM cleared, program must clear it ENDIF IF (XNegHardEOT) XErrorCode = 4 $V2 = "Negative Hardware End-of-travel hit, Axis 0" CLR XNegHardEOT : REM EOT flag is not automatically REM cleared, program must clear it ENDIF Error Handling 185 Parker Hannifin REM --------- Excess position error ---------IF (XExcessErrorFault) XErrorCode = 5 $V2 = "Axis 0 disabled due to excess position error" CLR XExcessErrorFault ENDIF REM -- Use only for servo axes !!! Encoder Signal Lost or Fault IF (NOT XDriveEnabled AND (XErrorCode = 0) AND (XEncoderFault OR XEncoderLost)) XErrorCode = 6 $V2 = "Axis 0 disabled due to encoder fault" ENC 0 RES : REM try to reset encoder ENDIF REM if none of the errors above, then possible Drive Fault REM Input caused error. IF (XErrorCode = 0) $V2 = "" REM Drive Fault IF (XDriveFault) $V2 = $V2 + "Latched Drive Fault, Axis 0." ELSE $V2 = "Other fault (user set KAMR bit, EPL Network Fault, etc.)" ENDIF XErrorCode = 7 : REM no separate code for drive fault ENDIF REM --------- Clear KILL bits --------CLR XKillAllMotion : REM BIT8467 CLR KillMasterMoves : REM BIT522 ENDIF : REM end of Axis X checking IF (XErrorCode = 0) $V2 = "No errors on axis 0" REM XErrorCode should be cleared/acknowledged by HMI/operator REM interface ENDIF REM --------- Check Axis Y --------IF (YKillAllMotion AND NOT LatchedMEIOpen) INH -824 : REM When KAMR flag is set, all motion stops with REM JOG move SET ErrorOccurred YErrorCode = 0 : REM Error number for Axis 1 REM some "master" programs can be resumed, all others must be REM halted when error occurs. IF (HaltProgOnError) HALT PROG0 ELSE PAUSE PROG0 : REM issue RESUME PROG0 to continue ENDIF 186 Programmer’s Guide Parker Hannifin REM --------- Hardware EOT's --------IF (YPosHardEOT) YErrorCode = 3 $V3 = "Positive Hardware End-of-travel hit, Axis 1" CLR YPosHardEOT : REM EOT flag is not automatically REM cleared, program must clear it ENDIF IF (YNegHardEOT) YErrorCode = 4 $V3 = "Negative Hardware End-of-travel hit, Axis 1" CLR YNegHardEOT : REM EOT flag is not automatically REM cleared, program must clear it ENDIF REM --------- Excess position error -----------IF (YExcessErrorFault) YErrorCode = 5 $V3 = "Axis 1 disabled due to excess position error" CLR YExcessErrorFault ENDIF REM -- Use only for servo axes !!! Encoder Signal Lost or Fault IF (NOT YDriveEnabled AND (YErrorCode = 0) AND (YEncoderFault OR YEncoderLost)) YErrorCode = 6 $V3 = "Axis 1 disabled due to encoder fault" ENC 1 RES : REM try to reset encoder ENDIF REM if none of the errors above, then possible Drive Fault Input REM caused error. IF (YErrorCode = 0) $V3 = "" REM Drive Fault IF (YDriveFault) $V3 = $V3 + "Latched Drive Fault, Axis 1." ELSE $V3 = "Other fault (user set KAMR bit, EPL Network Fault, etc.)" ENDIF YErrorCode = 7 : REM no separate code for drive fault vs. ENDIF REM --------- Clear KILL bits --------CLR YKillAllMotion : REM BIT8499 CLR KillMasterMoves : REM BIT522 ENDIF : REM end of Axis Y checking IF (YErrorCode = 0) $V3 = "No errors on Axis 1" REM YErrorCode should be cleared/acknowledged by HMI/front end REM application ENDIF Error Handling 187 Parker Hannifin REM --------- Print error out comm1 to terminal --------IF (ErrorOccurred) REM Print time since controller power on or reset GOSUB CheckTime IF (MEIErrorCode > 0) PRINT #1, "MEI Error ";MEIErrorCode;" -> ";$V0 REM Motion Enable Input status ENDIF IF (CANopenErrorCode > 0) PRINT #1, "CANopen Error ";CANopenErrorCode;" -> ";$V1 REM CANopen status ENDIF IF (XErrorCode > 0) PRINT #1, "Axis 0 Error ";XErrorCode;" -> ";$V2 : REM Axis 0 REM status ENDIF IF (YErrorCode > 0) PRINT #1, "Axis 1 Error ";YErrorCode;" -> ";$V3 : REM Axis 1 REM status ENDIF PRINT #1, "" : REM print a blank line between error messages REM error codes must be cleared by HMI or by this program IF (ClearErrorCodes) : REM set Axis ClearErrorCodes to have REM program clear codes automatically XErrorCode = 0 YErrorCode = 0 ENDIF CLR ErrorOccurred ENDIF GOTO LoopStart _CheckTime REM This implements a "clock" for showing time since power up or REM reboot, assuming P6916 is not set by user. P6916 resets to zero REM at 2**31 (2^31). P6916 is a free-running clock in milliseconds Time = P6916 : REM capture current time in ms. REM extract the millisecond portion ms = Time MOD 1000 : REM extract any ms less than 1 full second REM extract the second portion REM remove ms from the Time and convert time to seconds seconds = (Time - ms)/1000 ExcSeconds = seconds MOD 60 : REM extract any seconds less than a REM full minute REM extract the minute portion REM remove seconds from the Time and convert time to minutes minutes = (seconds - ExcSeconds) / 60 REM extract any minutes less than a full hour 188 Programmer’s Guide Parker Hannifin ExcMinutes = minutes MOD 60 REM extract the hour portion REM remove excess minutes and convert to full hours hours = (minutes - ExcMinutes) /60 REM remove any hours less than a full day ExcHours = hours mod 24 REM only full days are left. Only works up to <25 days. REM remove excess hours and convert what's left to days days = (hours - ExcHours)/24 PRINT #1, "Approximate Time Running : ";days;" Days "; PRINT #1, USING "##";ExcHours;" Hours "; PRINT #1, USING "##";ExcMinutes;" Minutes "; PRINT #1, USING "##";ExcSeconds;".";ms;" Seconds " RETURN ENDP Error Handling 189 Parker Hannifin Appendix The appendix contains supplemental materials not directly related to any specific ACR series controller discussion. IP Addresses, Subnets, & Subnet Masks The factory assigns an IP address of 192.168.10.40 and a subnet mask of 255.255.255.0 to each controller. Before adding the controller to your network, assign it an IP address and subnet mask appropriate for your network. Caution —Talk with your Network Administrators before assigning an IP address or subnet mask to a controller. They can provide you with an available IP address, as well as which subnet mask is appropriate for your particular network configuration. Isolate the ACR9000 controller and related devices on their own subnet. The high-volume traffic on networks can affect the ACR9000 controller's performance. A closed network restricts the flow of traffic to only the controller and related devices. The IP address and subnet mask you assign each controller determines to which subnet each controller belongs. To manage the flow of data across a network, it can be divided into subnets smaller networks within a network to provide more efficient delivery of data. IP Addresses An IP address is an identifier for a device on a TCP/IP network. Every device connected to the Internet must use a unique IP Address. The IP address is comprised of a 32-bit binary address that is subdivided into four 8-bit segments known as octets. Because people do not generally think in binary, the address is expressed in dotted decimal format. Each binary octet is converted to a decimal number ranging from 0 to 255, with each octet separated by a decimal point. For example, an IP address in dotted decimal format looks like the following: 192.168.10.120 190 Programmer’s Guide Parker Hannifin The address consists of a network ID and a host ID. The network ID acts as a general address, like a zip code; The host ID is the address for a specific device within the network, like a home address. Most IP addresses fall into one of the following address classes: • Class A range. The first 8 bits are for the network ID; The remaining 24 bits are for the host ID. • Class B range. The first 16 bits are for the network ID; The remaining 16 bits are for the host ID. • Class C range. The first 24 bits are for the network ID; The remaining 8 bits are for the host ID. The number of bits used for the network ID determine how many hosts a given address can support. Class A networks provide a small number of network IDs but a very large number of host IDs. And class C networks provide a huge number of network IDs but a small number of host IDs. Before a computer or router can send data, it has to identify the network ID through the address class. Each class is assigned a range of numbers. Address Class First octet in dotted decimal format begins with A 0 to 127 Excluded from Internet, Allowed for Intranet 10.0.0.0 to 10.255.255.255 127.0.0.0 to 127.255.255.255 B 128 to 191 172.16.0.0 to 172.31.255.255 C 192 to 223 192.168.0.0 to 192.168.255.255 Certain IP addresses have particular meanings and are not assigned to host devices. • Using zeroes as a host ID signifies the entire network. For example, the IP address of 192.168.0.0 indicates network 192.168 where specific hosts can be found. • Using 255 in an octet indicates a broadcast, where data is sent to all host devices on a network. For example, the IP Address 192.168.255.255 will broadcast data to all host devices in that network. Appendix 191 Parker Hannifin Suppose you have 6 computers in a class C network. All share the same network address 192.168.10. in the first three octets. The final octet for each computer is different, and represents the host ID. Some addresses are reserved for private networks or intranets, where networks are masked or protected from the Internet: 10.0.0.0 to 10.255.255.255 172.16.0.0 to 172.31.255.255 192.168.0.0 to 192.168.255.255 For additional information on private IP addresses, refer to IEEE specification RFC 1918 Address Allocation for Private Internets. You can view it at http://www.faqs.org/rfcs/rfc1918.html Subnets As networks increase in size, it becomes more complex to deliver information. Subnets provide a logical way to break apart network addresses into smaller, more manageable groups. There are additional benefits including more efficient communications between devices, and increases to the overall network capacity. Subnet IDs When sending data from one host to another, routers use the network ID (see above) in the IP address to locate the network. On finding the network, the network is searched for the specific host. With a great deal of network traffic this proves cumbersome. Under these circumstances, an IP address does not provide enough information for routers and host devices to efficiently locate a host device. 192 Programmer’s Guide Parker Hannifin To provide another level of addressing, some of the host ID is borrowed to create a subnet ID. The subnet ID allows you to logically group devices together (often related to a specific network segment). Once data arrives at the network, the subnet ID allows routers or host devices to locate the appropriate network segment, and then the host. Suppose you have a class C network, comprised of 6 computers. All share the same network ID 192.168. but are divided into two subnets. Three computers use 192.168.10., where 10. is the subnet ID; the remaining three use 192.168.5., where 5. is the subnet ID. Subnet Masks A subnet mask determines how many bits after the network ID are used for the subnet ID. As the subnet ID increases, the number of host IDs available for that network decrease. Similarly, a smaller subnet ID allows you to increase the number of hosts on the network. For simplicity, this discussion only looks at complete octets in dotted decimal format, and does not explore converting partial masks from binary to decimal. Appendix 193 Parker Hannifin What subnet mask to use depends on your network configuration, and address class. Where the host ID appears in the IP address, use a zero in the subnet mask. And where the network ID and subnet ID appear, use 255 in the subnet mask. Suppose on network 172.20.0.0 (class B) you have to set up a new computer. You assign it 172.20.44.180 as the IP address. As a class B network, the first two octets are reserved for the network ID. The third octet is reserved for the subnet ID, and the last octet is for the host ID. So using the subnet mask 255.255.255.0 identifies the final octet as the host ID. 194 Programmer’s Guide Parker Hannifin Output Module Software Configuration Examples The following commands are used to configure the ACR1200, ACR1500, ACR2000, ACR8000, ACR8010 output modules for operation: ► CONFIG tells the control what type of output module is installed. ► ATTACH AXIS attaches the axis to signal output and feedback. ► ESAVE saves the axis attachments. Example 1 The following example configures an eight axis ACR8000/ACR8010 board for eight axis of open-loop steppers (two stepper output modules); also included on the board is an analog input module (ADC input module): CONFIG ATTACH ATTACH ATTACH ATTACH ATTACH ATTACH ATTACH ATTACH ESAVE NONE STEPPER4 STEPPER4 NONE AXIS0 STEPPER0 STEPPER0 AXIS1 STEPPER1 STEPPER1 AXIS2 STEPPER2 STEPPER2 AXIS3 STEPPER3 STEPPER3 AXIS4 STEPPER4 STEPPER4 AXIS5 STEPPER5 STEPPER5 AXIS6 STEPPER6 STEPPER6 AXIS7 STEPPER7 STEPPER7 Example 2 The following example configures an eight axis ACR8000/ACR8010 board for four closed-loop servos and four open-loop steppers (one DAC output module and one stepper output module): CONFIG ATTACH ATTACH ATTACH ATTACH ATTACH ATTACH ATTACH ATTACH ENC4 DAC4 STEPPER4 NONE AXIS0 ENC0 DAC0 AXIS1 ENC1 DAC1 AXIS2 ENC2 DAC2 AXIS3 ENC3 DAC3 AXIS4 STEPPER4 STEPPER4 AXIS5 STEPPER5 STEPPER5 AXIS6 STEPPER6 STEPPER6 AXIS7 STEPPER7 STEPPER7 Appendix 195 Parker Hannifin Example 3 The following example configures an eight axis ACR8010 board for two closed-loop servos with two commutator and two open-loop steppers (one DAC output module and one stepper output module): CONFIG ENC4 DAC4 STEPPER4 NONE ATTACH AXIS0 ENC0 CMT0 ENC0 ATTACH AXIS1 ENC2 CMT1 ENC2 ATTACH AXIS4 STEPPER4 STEPPER4 ATTACH AXIS5 STEPPER5 STEPPER5 ATTACH AXIS6 STEPPER6 STEPPER6 ATTACH AXIS7 STEPPER7 STEPPER7 AXIS2 OFF AXIS3 OFF CMT0 ENC0 ENC1 CMT0 DAC0 DAC1 CMT1 ENC2 ENC3 CMT1 DAC2 DAC3 Example 4 The following example configures a four axis ACR1500 with four on-board stepper outputs or a four axis ACR2000 with one stepper output module for four open-loop steppers. Also included on the board is an analog input module (ADC input module). NOTE: On the ACR1500 and ACR2000 card, the attach axis statements for AXIS4 through AXIS7 must be left in the default configuration to ensure proper operation. CONFIG ATTACH ATTACH ATTACH ATTACH ESAVE NONE STEPPER4 NONE ADC8 AXIS0 STEPPER0 STEPPER0 AXIS1 STEPPER1 STEPPER1 AXIS2 STEPPER2 STEPPER2 AXIS3 STEPPER3 STEPPER3 Example 5 The following example configures a two axis ACR1200 with two on-board stepper outputs or a four axis ACR2000 with one stepper output module for four open-loop steppers. Also included on the board is an analog input module (ADC input module). NOTE: On the ACR1500 and ACR2000 card, the attach axis statements for AXIS4 through AXIS7 must be left in the default configuration to ensure proper operation. CONFIG ATTACH ATTACH ATTACH ATTACH ESAVE NONE STEPPER4 NONE ADC8 AXIS0 STEPPER0 STEPPER0 AXIS1 STEPPER1 STEPPER1 AXIS2 STEPPER2 STEPPER2 AXIS3 STEPPER3 STEPPER3 196 Programmer’s Guide Parker Hannifin Example 6 The following example configures a four axis ACR1500 with two on-board DAC outputs for two closed loop servos. Also included on the board is an analog input module (ADC input module). NOTE: On the ACR1200 card, the attach axis statements for AXIS3 through AXIS7 must be left in the default configuration to ensure proper operation. CONFIG ENC3 DAC2 NONE ADC8 ATTACH AXIS0 ENC0 DAC0 ATTACH AXIS1 ENC1 DAC1 ESAVE Example 7 The following example configures a 2 axis ACR1200 with one onboard DAC output and one on-board stepper output for one closed loop servo and one open-loop stepper. Also included on the board is an analog input module (ADC input module). NOTE: On the ACR1200 card, the attach axis statements for AXIS2 through AXIS7 must be left in the default configuration to ensure proper operation. CONFIG ENC3 DACSTEP2 NONE ADC8 ATTACH AXIS0 ENC0 DAC0 ATTACH AXIS1 STEPPER0 STEPPER0 ESAVE Appendix 197 Parker Hannifin Index AcroBASIC commands ............................. 48 syntax ................................... 44 aliases bits .................................. 43, 58 constants ............................... 43 DEFINE .................................. 43 parameters........................ 43, 58 variables ................................ 43 attachments axis attaching ....................... 33, 34 names ................................ 38 masters ................................. 35 attaching ............................ 35 slaves .................................... 36 attaching ............................ 37 names ................................ 38 software................................. 33 axes names ................................... 38 bits aliases ................................... 58 clearing.................................. 57 overview ................................ 56 printing.................................. 58 setting ................................... 57 using ..................................... 57 branching repetition ............................... 54 selection ................................ 51 CANopen AcroBASIC.............................155 analog inputs................................161 outputs..............................161 bit rate ..................................152 resulution ..........................161 bus states .............................159 health period .........................154 heart beating protocol.............154 information parameters...........155 LED status.............................158 mapping digital I/O ................151 network configuration .............152 node address .............................152 availability .........................151 guarding protocol ...............154 ID 160 speed ................................153 parameters extended I/O......................161 saving ...............................163 start network.........................154 transmission cycle ..................153 change summary ......................... vii commands format ................................... 45 immediate mode ..................... 48 198 Programmer’s Guide syntax...............................44, 46 communication troubleshooting .............. 175, 176 communication levels .................. 26 plc program ............................ 27 system ................................... 26 user program .......................... 27 CONFIG .. See hardware configuration configuration example ................................. 73 firmware revision..................... 78 global varaibles ....................... 79 reserved resources .................. 78 user groups ............................ 79 cycling power ............................. 71 dedicated I/O drive enable ................................ 29 fault ................................... 29 reset .................................. 29 homing................................. 118 drive input enable ................................ 29 fault ................................... 29 reset .................................. 29 Drive Talk auto-address......................... 165 bits ...................................... 165 configuration flags ................. 166 drive status flags ................... 166 error flags ............................ 166 parameters ........................... 165 pass through mode ................ 168 RS-232................................. 165 RS-485................................. 165 starting ................................ 167 stopping ............................... 168 end-of-travel limits........... See limits errors documenting ......................... 172 error handling ....................... 181 sample program .................... 181 factory default ............................ 72 feedback control ................................... 92 formulas .................................... 60 hardware configuration CONFIG .................................. 28 homing backup enable.........112, 114, 116 bits ...................................... 112 commands............................ 112 dedicated I/O ........................ 118 direction ............................... 110 final direction ................. 112, 116 jogging................................. 110 limit deceleration ................... 118 limit detection ....................... 118 limit range ............................ 118 negative edge selection ... 112, 116 Parker Hannifin overview ...............................110 subroutine.............................112 I/O hardware limits ....................... 29 homing limit ........................... 29 LED troubleshooting....... 173, 174, 175 limits hardware ............................... 30 enable ................................ 31 input assignment ................. 29 homing .................................110 software................................. 31 enable ................................ 32 positions............................. 32 linear interpolation coordinated moves profiler ....... 96 mathematical operations ............. 60 memory allocation ...................... 71 aliases ................................... 40 arrays.................................... 40 BRESET.................................. 39 clearing............................. 39, 42 COM stream buffers................. 40 current allocations................... 42 default ................................... 39 DIM ....................................... 42 free memory........................... 42 global variables....................... 40 local variables......................... 40 PLC programs ......................... 40 programs ............................... 40 requirements .......................... 41 strings ................................... 40 motion absolute................................. 82 cam profiler ..................... 81, 110 commanding...................... 82, 91 comparison ............................ 83 coordinated moves profiler .. 81, 96 feedback control ..................... 92 gear profiler .................... 81, 109 immediate .............................. 85 incremental ............................ 83 jog profiler.............................. 81 profiler interaction ................... 87 profiles................................... 86 servo loop status ................... 121 velocity profiles ..................86, 91 naming axes............................... 38 parameters aliases ................................... 58 overview ................................ 56 using ..................................... 57 parametric evaluation .................. 60 PBOOT command ........................ 71 problems ................................. 172 program adding code on-the-fly ............. 48 branching repetition ............................ 54 selection ............................. 51 halting ................................... 49 labels ..................................... 43 listening ................................. 49 pausing .................................. 50 resuming ................................ 50 running .................................. 49 starting .................................. 49 starting, automatically ............. 49 start-up.................................. 71 program flow pause..................................... 55 repetition................................ 54 selection................................. 51 prompts ..................................... 26 rebooting controller ..................... 71 REM statement ............ See remarks remarks format.................................... 44 RFS .................... See factory default start-up program ........................ 71 technical support .......................... ii troubleshooting.................. 172, 173 199
